minor fixes to camera config

IOES-Lab · Oct 4, 2024 · 055dd6e · 055dd6e
1 parent 9a07f9c
commit 055dd6e
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Showing 4 changed files with 12 additions and 4 deletions.
diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/[email protected]_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/[email protected]",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/[email protected]",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/[email protected]",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/[email protected]",
             f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/[email protected]",
         ]
     )

diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/[email protected]_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/[email protected]",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/[email protected]",
-            f"/model/{namespace}/camera/image_raw@sensor_msgs/msg/[email protected]",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/[email protected]",
             f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/[email protected]",
         ]
     )

diff --git a/models/dave_robot_models/config/rexrov/robot_config.py b/models/dave_robot_models/config/rexrov/robot_config.py
@@ -24,6 +24,8 @@ def launch_setup(context, *args, **kwargs):
             f"/model/{namespace}/pose@geometry_msgs/msg/[email protected]_V",
             f"/model/{namespace}/imu@sensor_msgs/msg/[email protected]",
             f"/model/{namespace}/magnetometer@sensor_msgs/msg/[email protected]",
+            f"/model/{namespace}/camera/image@sensor_msgs/msg/[email protected]",
+            f"/model/{namespace}/camera/camera_info@sensor_msgs/msg/[email protected]",
         ]
     )
 

diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/dave_robot_models/description/rexrov/model.sdf
@@ -67,8 +67,8 @@
     </link>
 
     <link name="camera_link">
+      <pose>1.33 0 -0.74 0 0 0</pose>
       <inertial>
-        <pose>1.34 0 0.75 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.000166667</ixx>
@@ -94,7 +94,7 @@
         <update_rate>10</update_rate>
         <visualize>true</visualize>
         <always_on>1</always_on>
-        <topic>/model/rexrox/camera</topic>
+        <topic>/model/rexrov/camera</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
           <image>
@@ -120,6 +120,12 @@
       </sensor>
     </link>
 
+    <joint name="camera_joint" type="fixed">
+      <pose>1.33 0 -0.74 0 0 0.0</pose>
+      <parent>base_link</parent>
+      <child>camera_link</child>
+    </joint>
+
     <link name="magnetometer_link">
       <pose>0 0 0 0 0 0</pose>
       <inertial>