Renamed launch files to YAML, WORKING ROS2

vortexntnu · Oct 5, 2023 · 813b681 · 813b681
1 parent 03d4df6
commit 813b681
Show file tree

Hide file tree

Showing 4 changed files with 29 additions and 16 deletions.
diff --git a/asv_setup/CMakeLists.txt b/asv_setup/CMakeLists.txt
@@ -23,4 +23,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_package()
diff --git a/asv_setup/launch/pc.yaml → asv_setup/launch/pc.launch.yaml b/asv_setup/launch/pc.yaml → asv_setup/launch/pc.launch.yaml
diff --git a/asv_setup/launch/tf.launch.yaml b/asv_setup/launch/tf.launch.yaml
@@ -0,0 +1,23 @@
+launch:
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_lidar
+      args: --frame-id base_link --child-frame-id os_lidar --x 0 --y 0 --z 0.03565 --roll 0 --pitch 0 --yaw 0
+
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_zed2_camera_center
+      args: --frame-id base_link --child-frame-id zed2i_camera_center --x -0.03005 --y 0 --z 0.2203 --roll 0 --pitch 0 --yaw 0
+
+#Tall fra mechanical
+#Lidar
+#X: 0
+#Y (Høyde Z): Bunn til senter(50 - 28,35/2) + Origin til bunn av sensor(356,5) = 392.325 mm
+#Z: 0 
+
+#Kamera
+#X: -(268.56 mm + 31.58 mm)  = -300.14 mm 
+#Y (Høyde Z): 179.01 mm + 42.37mm distanse fra sentrumtil linse = 221.38 mm
+#Z (Y): 0
diff --git a/asv_setup/launch/tf.yaml b/asv_setup/launch/tf.yaml