adding sensor config for t680

ctu-mrs · Dec 13, 2023 · 5a0473c · 5a0473c
1 parent 61ab915
commit 5a0473c
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -90,6 +90,10 @@
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.0 0.1 -0.03 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
       </group>
 
+      <group if="$(eval arg('UAV_TYPE') == 't680')">
+        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.0 0.1 -0.03 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
+      </group>
+
       <group if="$(eval arg('UAV_TYPE') == 'naki')">
         <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg garmin_frame_slashless)" args="0.19918 -0.115 -0.025 0 1.57079632679 0.0 $(arg fcu_frame) $(arg garmin_frame)" />
       </group>
@@ -892,6 +896,10 @@
       <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.10 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
     </group>
 
+    <group if="$(eval arg('UAV_TYPE') == 't680')">
+      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.7 $(arg ouster_heading) 0.0 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
+    </group>
+
     <group if="$(eval arg('UAV_TYPE') == 'eaglemk2')">
       <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg ouster_frame_slashless)" args="0.0 0.0 0.10 $(arg ouster_heading) 0.1745329 0.0 $(arg fcu_frame) $(arg ouster_frame)" />
     </group>