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fix baro and mag frame links for ZED2i #822

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Merged
Myzhar merged 1 commit into from
Mar 16, 2022
Merged

fix baro and mag frame links for ZED2i #822

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fix baro and mag frame links for ZED2i
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@Myzhar
Myzhar committed Mar 16, 2022
commit d02d2032ced3e99ff0a586cd0b0e9c96f121290b
2 changes: 1 addition & 1 deletion zed_wrapper/params/zed2.yaml
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Expand Up @@ -18,7 +18,7 @@ sensors:

object_detection:
od_enabled: false # True to enable Object Detection [not available for ZED]
model: 2 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
confidence_threshold: 50 # Minimum value of the detection confidence of an object [0,100]
max_range: 15. # Maximum detection range
object_tracking_enabled: true # Enable/disable the tracking of the detected objects
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2 changes: 1 addition & 1 deletion zed_wrapper/params/zed2i.yaml
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Expand Up @@ -18,7 +18,7 @@ sensors:

object_detection:
od_enabled: false # True to enable Object Detection [not available for ZED]
model: 1 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
confidence_threshold: 50 # Minimum value of the detection confidence of an object [0,100]
max_range: 15. # Maximum detection range
object_tracking_enabled: true # Enable/disable the tracking of the detected objects
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4 changes: 2 additions & 2 deletions zed_wrapper/params/zedm.yaml
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Expand Up @@ -17,8 +17,8 @@ sensors:
publish_imu_tf: true # publish `IMU -> <cam_name>_left_camera_frame` TF

object_detection:
od_enabled: true # True to enable Object Detection [not available for ZED]
model: 3 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
od_enabled: false # True to enable Object Detection [not available for ZED]
model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
confidence_threshold: 50 # Minimum value of the detection confidence of an object [0,100]
max_range: 15. # Maximum detection range
object_tracking_enabled: true # Enable/disable the tracking of the detected objects
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2 changes: 1 addition & 1 deletion zed_wrapper/urdf/zed_macro.urdf.xacro
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Expand Up @@ -125,7 +125,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


<!-- ZED2 Sensors -->
<xacro:if value="${model == 'zed2'}">
<xacro:if value="${model == 'zed2' or model == 'zed2i'}">
<link name="${name}_mag_link" />
<joint name="${name}_mag_joint" type="fixed">
<parent link="${name}_camera_center"/>
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