robossembler/cnc-graver-assist
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setup camera pose and aruco markers

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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
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24
rbs_mill_assist/world/config/places.yaml
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@ -29,49 +29,49 @@ models:
mesh_filename: aruco_template.obj
pose:
position:
x: -0.18
y: 0.165
x: -0.235
y: 0.28
z: 0.15
orientation:
r: 3.14
p: 0.0
y: 1.57
y: 0.0
- name: aruco_2
mesh_filename: aruco_template.obj
pose:
position:
x: -0.18
y: 0.209
x: -0.191
y: 0.28
z: 0.11
orientation:
r: 3.14
p: 0.0
y: 1.57
y: 0.0
- name: aruco_3
mesh_filename: aruco_template.obj
pose:
position:
x: -0.18
y: 0.253
x: -0.147
y: 0.28
z: 0.15
orientation:
r: 3.14
p: 0.0
y: 1.57
y: 0.0
- name: aruco_4
mesh_filename: aruco_template.obj
pose:
position:
x: -0.18
y: 0.297
x: -0.103
y: 0.28
z: 0.11
orientation:
r: 3.14
p: 0.0
y: 1.57
y: 0.0
- name: conductor
mesh_filename: conductor.stl

3
rbs_mill_assist/world/world_macro.xacro
View file

@ -58,7 +58,8 @@
<!-- </xacro:model> -->
<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:table />