robossembler/cnc-graver-assist
7
0
Fork 0
Code Issues 5 Pull requests 1 Projects Releases Packages Wiki Activity Actions

setup camera pose and aruco markers

Browse source
This commit is contained in:
shalenikol 2025-04-08 14:22:46 +03:00
parent feb676f802
commit 3e28d8a21e
2 changed files with 14 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

24
rbs_mill_assist/world/config/places.yaml
View file

@ -29,49 +29,49 @@ models:
mesh_filename: aruco_template.obj mesh_filename: aruco_template.obj
pose: pose:
position: position:
x: -0.18 x: -0.235
y: 0.165 y: 0.28
z: 0.15 z: 0.15
orientation: orientation:
r: 3.14 r: 3.14
p: 0.0 p: 0.0
y: 1.57 y: 0.0
- name: aruco_2 - name: aruco_2
mesh_filename: aruco_template.obj mesh_filename: aruco_template.obj
pose: pose:
position: position:
x: -0.18 x: -0.191
y: 0.209 y: 0.28
z: 0.11 z: 0.11
orientation: orientation:
r: 3.14 r: 3.14
p: 0.0 p: 0.0
y: 1.57 y: 0.0
- name: aruco_3 - name: aruco_3
mesh_filename: aruco_template.obj mesh_filename: aruco_template.obj
pose: pose:
position: position:
x: -0.18 x: -0.147
y: 0.253 y: 0.28
z: 0.15 z: 0.15
orientation: orientation:
r: 3.14 r: 3.14
p: 0.0 p: 0.0
y: 1.57 y: 0.0
- name: aruco_4 - name: aruco_4
mesh_filename: aruco_template.obj mesh_filename: aruco_template.obj
pose: pose:
position: position:
x: -0.18 x: -0.103
y: 0.297 y: 0.28
z: 0.11 z: 0.11
orientation: orientation:
r: 3.14 r: 3.14
p: 0.0 p: 0.0
y: 1.57 y: 0.0
- name: conductor - name: conductor
mesh_filename: conductor.stl mesh_filename: conductor.stl

3
rbs_mill_assist/world/world_macro.xacro
View file

@ -58,7 +58,8 @@
<!-- </xacro:model> --> <!-- </xacro:model> -->
<xacro:rgbd_camera> <xacro:rgbd_camera>
<pose>0 -0.93 0.42 0 0.4 1.81</pose> <pose>0.22 -0.46 0.3 0 0.4 1.81</pose>
<!-- <pose>0 -0.93 0.42 0 0.4 1.81</pose> -->
</xacro:rgbd_camera> </xacro:rgbd_camera>
<xacro:table /> <xacro:table />