added uav namespace to openvins transformations

ctu-mrs · Sep 18, 2024 · 660d1e6 · 660d1e6
1 parent ad52fef
commit 660d1e6
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Showing 6 changed files with 12 additions and 12 deletions.
diff --git a/launch/vins_republisher_openvins_bluefox.launch b/launch/vins_republisher_openvins_bluefox.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->

diff --git a/launch/vins_republisher_openvins_mavros.launch b/launch/vins_republisher_openvins_mavros.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->

diff --git a/launch/vins_republisher_openvins_oak.launch b/launch/vins_republisher_openvins_oak.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->

diff --git a/launch/vins_republisher_openvins_robofly.launch b/launch/vins_republisher_openvins_robofly.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->

diff --git a/launch/vins_republisher_openvins_t265.launch b/launch/vins_republisher_openvins_t265.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->

diff --git a/launch/vins_republisher_openvins_unreal.launch b/launch/vins_republisher_openvins_unreal.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->