Course round vt 2019

launch/aruco.launch

@@ -1,7 +1,7 @@
 <launch>
 
     <arg name="markerSize"      default="0.197"/>    <!-- in m -->
-    <arg name="ref_frame"       default="base"/>  <!-- leave empty and the pose will be published wrt param parent_name -->
+    <arg name="ref_frame"       default=""/>  <!-- leave empty and the pose will be published wrt param parent_name -->
     <arg name="gui" default="false" />
 
 

launch/simulation.launch

@@ -7,6 +7,16 @@
   <arg name="gui" default="true"/>
   <arg name="paused" default="false"/>
 
+  <!-- Camera arguments -->
+  <arg name="enable_camera" default="true" />
+  <arg name="camera_fps" default="60.0" />
+  <arg name="camera_hfov" default="1.83259571" />
+  <arg name="camera_image_width" default="640" />
+  <arg name="camera_image_height" default="480" />
+  <arg name="camera_min_distance" default="0.1" />
+  <arg name="camera_max_distance" default="100" />
+  <arg name="camera_noise_stddev" default="0.00001" />
+
   <arg name="only_command" default="false" />
 
   <!--  Handler Arguments       -->
@@ -42,14 +52,24 @@
   <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find crazyflie_gazebo)/models:$(find dd2419_simulation)/models/signs:$(find dd2419_simulation)/models/markers"/>
   <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find crazyflie_gazebo)/models:$(find dd2419_simulation)/models/signs:$(find dd2419_simulation)/models/markers"/>
 
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+  <!-- Camera -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg enable_camera)">
     <arg name="world_name" value="$(find dd2419_simulation)/worlds/$(arg world_name).world"/>
     <arg name="debug" value="$(arg debug)" />
     <arg name="paused" value="$(arg paused)" />
     <arg name="gui" value="$(arg gui)" />
     <arg name="verbose" value="$(arg verbose)"/>
   </include>
 
+  <!-- No camera -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" unless="$(arg enable_camera)">
+    <arg name="world_name" value="$(find dd2419_simulation)/worlds/no_camera/$(arg world_name).world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="paused" value="$(arg paused)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="verbose" value="$(arg verbose)"/>
+  </include>
+
   <!-- Spawn the crazyflie model -->
   <group ns="$(arg cfPrefix)1">
     <include file="$(find crazyflie_gazebo)/launch/spawn_mav.launch">
@@ -62,6 +82,14 @@
       <arg name="x" default="$(arg x_1)"/>
       <arg name="y" default="$(arg y_1)"/>
       <arg name="z" default="$(arg z_1)"/>
+      <arg name="enable_camera" default="$(arg enable_camera)"/>
+      <arg name="camera_fps" default="$(arg camera_fps)" />
+      <arg name="camera_hfov" default="$(arg camera_hfov)" />
+      <arg name="camera_image_width" default="$(arg camera_image_width)" />
+      <arg name="camera_image_height" default="$(arg camera_image_height)" />
+      <arg name="camera_min_distance" default="$(arg camera_min_distance)" />
+      <arg name="camera_max_distance" default="$(arg camera_max_distance)" />
+      <arg name="camera_noise_stddev" default="$(arg camera_noise_stddev)" />
     </include>
   </group>