hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Minor

Browse Source
This commit is contained in:
Michel Breyer 2021-12-03 11:49:50 +01:00
parent e765d5a974
commit e7aa81fed3
6 changed files with 7 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
cfg/hw/T_base_tag.txt Normal file
View File

@ -0,0 +1,4 @@
9.998979853190785860e-01 1.338047579286792167e-02 4.998181909874715480e-03 3.216251487106734364e-01
-1.341414276126873424e-02 9.998871470166096342e-01 6.764170678302552919e-03 -1.756941528330971392e-01
-4.907110028114804005e-03 -6.830526959274958038e-03 9.999646314608484632e-01 -3.868988796629513338e-02
0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00

0
cfg/apriltag.yaml → cfg/hw/apriltag.yaml
View File

0
cfg/mustard.yaml → cfg/sim/mustard.yaml
View File

2
launch/apriltag.launch
View File

@ -11,7 +11,7 @@
<!-- AprilTag --> <!-- AprilTag -->
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen"> <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
<rosparam command="load" file="$(find active_grasp)/cfg/apriltag.yaml" /> <rosparam command="load" file="$(find active_grasp)/cfg/hw/apriltag.yaml" />
<remap from="image_rect" to="/camera/infra1/image_rect_raw" /> <remap from="image_rect" to="/camera/infra1/image_rect_raw" />
<remap from="camera_info" to="/camera/infra1/camera_info" /> <remap from="camera_info" to="/camera/infra1/camera_info" />
<param name="camera_frame" type="str" value="camera_depth_optical_frame" /> <param name="camera_frame" type="str" value="camera_depth_optical_frame" />

2
scripts/calibrate_roi.py
View File

@ -8,7 +8,7 @@ def main():
rospy.init_node("calibrate_roi") rospy.init_node("calibrate_roi")
tf.init() tf.init()
T_base_roi = tf.lookup("panda_link0", "tag_0") T_base_roi = tf.lookup("panda_link0", "tag_0")
np.savetxt("cfg/T_base_tag.txt", T_base_roi.as_matrix()) np.savetxt("cfg/hw/T_base_tag.txt", T_base_roi.as_matrix())
if __name__ == "__main__": if __name__ == "__main__":

2
src/active_grasp/simulation.py
View File

@ -158,7 +158,7 @@ class Scene:
class YamlScene(Scene): class YamlScene(Scene):
def __init__(self, config_name): def __init__(self, config_name):
super().__init__() super().__init__()
self.config_path = pkg_root / "cfg" / config_name self.config_path = pkg_root / "cfg/sim" / config_name
def load_config(self): def load_config(self):
self.scene = load_cfg(self.config_path) self.scene = load_cfg(self.config_path)