modify iris_arm
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%YAML:1.0
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---
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model_type: PINHOLE
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camera_name: camera
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image_width: 752
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image_height: 480
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distortion_parameters:
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k1: 0
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k2: 0
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p1: 0
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p2: 0
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projection_parameters:
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fx: 376
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fy: 376
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cx: 376
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cy: 240
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%YAML:1.0
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---
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model_type: PINHOLE
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camera_name: camera
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image_width: 752
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image_height: 480
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distortion_parameters:
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k1: 0
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k2: 0
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p1: 0
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p2: 0
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projection_parameters:
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fx: 376
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fy: 376
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cx: 376
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cy: 240
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%YAML:1.0
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#common parameters
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#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
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imu: 0
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num_of_cam: 2
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imu_topic: "/imu0"
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image0_topic: "/cam0/image_raw"
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image1_topic: "/cam1/image_raw"
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output_path: "/home/tony-ws1/output/"
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cam0_calib: "cam0_pinhole_p1.yaml" #"cam0_mei.yaml"
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cam1_calib: "cam1_pinhole_p1.yaml" #"cam1_mei.yaml"
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image_width: 752
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image_height: 480
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# Extrinsic parameter between IMU and Camera.
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estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
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# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
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body_T_cam0: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
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0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
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-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
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0, 0, 0, 1]
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body_T_cam1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
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0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
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-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
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0, 0, 0, 1]
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#Multiple thread support
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multiple_thread: 1
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#feature traker paprameters
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max_cnt: 150 # max feature number in feature tracking
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min_dist: 30 # min distance between two features
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freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
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F_threshold: 1.0 # ransac threshold (pixel)
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show_track: 1 # publish tracking image as topic
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flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
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#optimization parameters
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max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
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max_num_iterations: 8 # max solver itrations, to guarantee real time
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keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
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@ -1,73 +0,0 @@
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%YAML:1.0
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#common parameters
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#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
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imu: 1
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num_of_cam: 2
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imu_topic: "/imu_stereo"
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image0_topic: "/gi/forward/left/image_raw"
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image1_topic: "/gi/forward/right/image_raw"
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output_path: "/home/gi/output/"
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cam0_calib: "cam0_pinhole_p1.yaml"
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cam1_calib: "cam1_pinhole_p1.yaml"
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image_width: 752
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image_height: 480
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# Extrinsic parameter between IMU and Camera.
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estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
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# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
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body_T_cam0: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [0, 0, 1, 0,
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-1, 0, 0, 0.12,
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0, -1, 0, -0.3,
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0, 0, 0, 1.]
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body_T_cam1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [0, 0, 1, 0,
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-1, 0, 0, 0,
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0, -1, 0, -0.3,
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0, 0, 0, 1.]
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#Multiple thread support
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multiple_thread: 1
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#feature traker paprameters
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max_cnt: 150 # max feature number in feature tracking
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min_dist: 30 # min distance between two features
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freq: 80 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
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F_threshold: 1.0 # ransac threshold (pixel)
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show_track: 1 # publish tracking image as topic
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flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
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#optimization parameters
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max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
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max_num_iterations: 8 # max solver itrations, to guarantee real time
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keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
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#imu parameters The more accurate parameters you provide, the better performance
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acc_n: 0.01 # accelerometer measurement noise standard deviation.
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gyr_n: 0.01 # gyroscope measurement noise standard deviation.
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acc_w: 0.001 # accelerometer bias random work noise standard deviation.
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gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.
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g_norm: 9.81007 # gravity magnitude
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#unsynchronization parameters
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estimate_td: 0 # online estimate time offset between camera and imu
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td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
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#loop closure parameters
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load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
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pose_graph_save_path: "~/output/pose_graph/" # save and load path
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save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0
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@ -25,7 +25,7 @@
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<arg name="ID" value="0"/>
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<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
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<!-- PX4 SITL and vehicle spawn -->
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<include file="$(find px4)/launch/single_vehicle_spawn.launch">
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<include file="$(find px4)/launch/single_vehicle_with_arm_spawn.launch">
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<arg name="x" value="-0.1"/>
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<arg name="y" value="0"/>
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<arg name="z" value="0"/>
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@ -45,7 +45,6 @@
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<arg name="tgt_component" value="1"/>
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</include>
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</group>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find le_arm)/urdf/le_arm.xacro'" />
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<include file="$(find le_arm)/launch/controller_utils.launch"/>
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<rosparam file="$(find le_arm)/controller/le_arm_controller.yaml" command="load"/>
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<node name="le_arm_controller_spawner" pkg="controller_manager" type="spawner" args="le_arm_controller" />
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@ -20,7 +20,7 @@
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<!-- PX4 configs -->
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<arg name="interactive" default="true"/>
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<!-- generate urdf vehicle model -->
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<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
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<arg name="cmd" default="$(find xacro)/xacro $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_arm_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) mavlink_tcp_port:=$(arg mavlink_tcp_port) --inorder"/>
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<param command="$(arg cmd)" name="rotors_description"/>
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<!-- PX4 SITL -->
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<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
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