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camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 #75

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merged 2 commits into from
Nov 21, 2023
Merged

camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 #75

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0b13e58
camera_downwardがtrueのときRGBカメラが斜め下を向くように変更
YusukeKato Nov 20, 2023
f6c6ad2
camera_downwardの説明を修正
YusukeKato Nov 21, 2023
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6 changes: 6 additions & 0 deletions raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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 point the camera downwards.')
declare_arg_world_name = DeclareLaunchArgument(
'world_name',
default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf',
Expand Down Expand Up @@ -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'

Expand Down Expand Up @@ -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,
Expand Down