From 37c165428a975be3e16c710c7ad191c3a2edbd05 Mon Sep 17 00:00:00 2001 From: Euxitheos Date: Fri, 24 Apr 2020 21:32:26 -0400 Subject: [PATCH] specified depth camera posistion --- src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml | 4 ++-- src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml b/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml index f08eb8f..dbd3574 100644 --- a/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml +++ b/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml @@ -7,5 +7,5 @@ sensors: depth_camera_1: type: depth_camera pose: - xyz: [0.875, 0.75, 1.3] - rpy: [0, 1, 0] + xyz: [1.0, 1.2, 1.4] + rpy: [0, 1.21, 0] diff --git a/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp b/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp index f21aa9d..82c54a9 100644 --- a/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp +++ b/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp @@ -28,6 +28,7 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr & cloud_msg) float cam_x = 1.0; float cam_y = 1.2; float cam_z = 1.4; + // rpy = 0 1.21 0 // convert from PointCloud to PointCloud2 sensor_msgs::PointCloud2 cloud2;