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specified depth camera posistion

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Euxitheos
2020-04-24 21:32:26 -04:00
parent 6ae4e18100
commit 37c165428a
2 changed files with 3 additions and 2 deletions
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4
src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
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@@ -7,5 +7,5 @@ sensors:
depth_camera_1: depth_camera_1:
type: depth_camera type: depth_camera
pose: pose:
xyz: [0.875, 0.75, 1.3] xyz: [1.0, 1.2, 1.4]
rpy: [0, 1, 0] rpy: [0, 1.21, 0]

1
src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp
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@@ -28,6 +28,7 @@ void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr & cloud_msg)
float cam_x = 1.0; float cam_x = 1.0;
float cam_y = 1.2; float cam_y = 1.2;
float cam_z = 1.4; float cam_z = 1.4;
// rpy = 0 1.21 0
// convert from PointCloud to PointCloud2 // convert from PointCloud to PointCloud2
sensor_msgs::PointCloud2 cloud2; sensor_msgs::PointCloud2 cloud2;