fixed f450 bluefox_down tf, updated camera calib

ctu-mrs · Apr 23, 2024 · f52d296 · f52d296
1 parent 7918b31
commit f52d296
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/config/camera_calibrations/mv_26807582.yaml b/config/camera_calibrations/mv_26807582.yaml
@@ -1,6 +1,6 @@
 image_width: 752
 image_height: 480
-camera_name: bluefox_right
+camera_name: bluefox_down
 camera_matrix:
   rows: 3
   cols: 3

diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -636,9 +636,9 @@
         <node pkg="tf2_ros" type="static_transform_publisher" name="front_cam_tf" args="0.0 0.12 -0.05 1.5708 0.0 3.1415 $(arg fcu_frame) $(arg camera_frame)" />
       </group>
 
-      <group if="$(eval arg('UAV_TYPE') != 't650')">
+      <group if="$(eval arg('UAV_TYPE') == 'f450')">
         <arg name="front_cam_yaw" default="0" />
-        <node pkg="tf2_ros" type="static_transform_publisher" name="front_cam_tf" args="0.0 0.12 -0.05 1.5708 0.0 3.1415 $(arg fcu_frame) $(arg camera_frame)" />
+        <node pkg="tf2_ros" type="static_transform_publisher" name="front_cam_tf" args="0.12 0.0 -0.05 1.5708 0.0 3.1415 $(arg fcu_frame) $(arg camera_frame)" />
       </group>
 
       <arg     if="$(arg STANDALONE)" name="nodelet" value="STANDALONE" />