From 0b13e58fe34dac28a9981e0a39bfb10268ee1ab0 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Mon, 20 Nov 2023 16:52:06 +0900 Subject: [PATCH 1/2] =?UTF-8?q?camera=5Fdownward=E3=81=8Ctrue=E3=81=AE?= =?UTF-8?q?=E3=81=A8=E3=81=8DRGB=E3=82=AB=E3=83=A1=E3=83=A9=E3=81=8C?= =?UTF-8?q?=E6=96=9C=E3=82=81=E4=B8=8B=E3=82=92=E5=90=91=E3=81=8F=E3=82=88?= =?UTF-8?q?=E3=81=86=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/raspimouse_with_emptyworld.launch.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index f0aa8eb..df048fb 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -46,6 +46,10 @@ def generate_launch_description(): 'use_rgb_camera', default_value='false', description='Set "true" to mount rgb camera.') + declare_arg_camera_downward = DeclareLaunchArgument( + 'camera_downward', + default_value='false', + description='Set "true" to camera down.') declare_arg_world_name = DeclareLaunchArgument( 'world_name', default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf', @@ -94,6 +98,7 @@ def generate_launch_description(): description_loader.lidar_frame = LaunchConfiguration('lidar_frame') description_loader.use_gazebo = 'true' description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera') + description_loader.camera_downward = LaunchConfiguration('camera_downward') description_loader.gz_control_config_package = 'raspimouse_gazebo' description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml' @@ -154,6 +159,7 @@ def generate_launch_description(): declare_arg_lidar, declare_arg_lidar_frame, declare_arg_use_rgb_camera, + declare_arg_camera_downward, declare_arg_world_name, declare_arg_spawn_x, declare_arg_spawn_y, From f6c6ad2609dead09c4b369a092cc3f7a01bdabe0 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Tue, 21 Nov 2023 15:03:41 +0900 Subject: [PATCH 2/2] =?UTF-8?q?camera=5Fdownward=E3=81=AE=E8=AA=AC?= =?UTF-8?q?=E6=98=8E=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: Shota Aoki --- raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index df048fb..f0adc9e 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -49,7 +49,7 @@ def generate_launch_description(): declare_arg_camera_downward = DeclareLaunchArgument( 'camera_downward', default_value='false', - description='Set "true" to camera down.') + description='Set "true" to point the camera downwards.') declare_arg_world_name = DeclareLaunchArgument( 'world_name', default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf',