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8 changes: 7 additions & 1 deletion
8
bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,5 +1,11 @@ | ||
/bitbots_extrinsic_calibration: | ||
/bitbots_extrinsic_camera_calibration: | ||
ros__parameters: | ||
offset_x: -0.05 | ||
offset_y: 0.15 | ||
offset_z: 0.0 | ||
|
||
/bitbots_extrinsic_imu_calibration: | ||
ros__parameters: | ||
offset_x: 0.0 | ||
offset_y: 0.0 | ||
offset_z: 0.0 |
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10 changes: 8 additions & 2 deletions
10
bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,5 +1,11 @@ | ||
/bitbots_extrinsic_calibration: | ||
/bitbots_extrinsic_camera_calibration: | ||
ros__parameters: | ||
offset_x: 0.0 | ||
offset_x: -0.03 | ||
offset_y: 0.0 | ||
offset_z: 0.0 | ||
|
||
/bitbots_extrinsic_imu_calibration: | ||
ros__parameters: | ||
offset_x: -0.03 | ||
offset_y: 0.03 | ||
offset_z: 0.0 |
25 changes: 0 additions & 25 deletions
25
...isc/bitbots_extrinsic_calibration/include/extrinsic_calibration/extrinsic_calibration.hpp
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10 changes: 9 additions & 1 deletion
10
bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
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Original file line number | Diff line number | Diff line change |
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@@ -1,8 +1,16 @@ | ||
<launch> | ||
<arg name="sim" default="false"/> | ||
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<node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_calibration"> | ||
<node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_camera_calibration"> | ||
<param name="use_sim_time" value="$(var sim)"/> | ||
<param name="parent_frame" value="camera_optical_frame_uncalibrated"/> | ||
<param name="child_frame" value="camera_optical_frame"/> | ||
<param from="$(find-pkg-share bitbots_extrinsic_calibration)/config/$(env ROBOT_NAME default).yaml" /> | ||
</node> | ||
<node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_imu_calibration"> | ||
<param name="use_sim_time" value="$(var sim)"/> | ||
<param name="parent_frame" value="imu_frame_uncalibrated"/> | ||
<param name="child_frame" value="imu_frame"/> | ||
<param from="$(find-pkg-share bitbots_extrinsic_calibration)/config/$(env ROBOT_NAME default).yaml" /> | ||
</node> | ||
</launch> |
124 changes: 66 additions & 58 deletions
124
bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
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