Merge branch 'master' of github.com:ctu-mrs/mrs_uav_deployment

ctu-mrs · Nov 13, 2024 · 4460d2e · 4460d2e
2 parents b2d45f8 + 83ffe72
commit 4460d2e
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Showing 2 changed files with 1 addition and 48 deletions.
diff --git a/config/mrs_uav_system/f550.yaml b/config/mrs_uav_system/f550.yaml
@@ -1,5 +1,5 @@
 motor_params:
-  n_motors: 4
+  n_motors: 6
   a: 0.77522
   b: -1.2348
 

diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -1029,53 +1029,6 @@
     <include file="$(find mrs_serial)/launch/rtk.launch">
     </include>
 
-    <arg name="rtk_frame" default="$(arg UAV_NAME)/rtk_antenna" />
-    <arg name="rtk_frame_slashless" default="rtk_antenna_antenna" />
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f330')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f450')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f550')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'x500')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 't650')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <group if="$(eval arg('UAV_TYPE') == 'm690')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.137 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'naki')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'dofec')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'eaglemk2')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
   </group>
 <!--//}-->