Working rotated map

Comet-Robotics · Dec 3, 2024 · 1e56c79 · 1e56c79
1 parent 4cb78de
commit 1e56c79
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Showing 3 changed files with 139 additions and 191 deletions.
diff --git a/srp_sim/src/sim_package/config/ros_gz_bridge.yaml b/srp_sim/src/sim_package/config/ros_gz_bridge.yaml
@@ -6,31 +6,27 @@
   direction: ROS_TO_GZ
 - ros_topic_name: "/rover/imu"
   gz_topic_name: "/world/world1/model/rover/link/base_link/sensor/imu_sensor/imu"
-  ros_type_name: "rosgraph_msgs/msg/Clock"
+  ros_type_name: "gz.msgs.IMU"
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
-- ros_topic_name: "/rover/odometry"
-  gz_topic_name: "/model/rover/odometry"
-  ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
-  direction: GZ_TO_ROS
+
 - ros_topic_name: "/tf"
   gz_topic_name: "/model/rover/tf"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
 - ros_topic_name: "/camera/camera/color/camera_info"
-  gz_topic_name: "/world/world1/model/rover/link/base_link/sensor/camera_front/camera_info"
+  gz_topic_name: "/world/world1/model/rover/link/camera_link/sensor/camera_front/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
   direction: GZ_TO_ROS
 - ros_topic_name: "/camera/camera/aligned_depth_to_color/image_raw"
-  gz_topic_name: "/world/world1/model/rover/link/base_link/sensor/camera_front/depth_image"
+  gz_topic_name: "/world/world1/model/rover/link/camera_link/sensor/camera_front/depth_image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 - ros_topic_name: "/camera/camera/color/image_raw"
-  gz_topic_name: "/world/world1/model/rover/link/base_link/sensor/camera_front/image"
+  gz_topic_name: "/world/world1/model/rover/link/camera_link/sensor/camera_front/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS

diff --git a/srp_sim/src/sim_package/launch/world.launch.py b/srp_sim/src/sim_package/launch/world.launch.py
@@ -73,13 +73,20 @@ def generate_launch_description():
         executable='static_transform_publisher',
         name='camera_front_to_camera_link',
         output='screen',
-        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'rover/base_link', 'rover/base_link/camera_front']
+        arguments=['0.0', '0.0', '0.0', '1.57079632679', '3.14159265359', '1.57079632679', 'rover/camera_link', 'rover/camera_link/camera_front']
+    )
+
+    worldflip = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='camera_front_to_camera_link',
+        output='screen',
+        arguments=['0.0', '0.0', '0.0', '0.0', '-1.57079632679', '0.0', 'world', 'map']
     )
-
 
     return LaunchDescription([
                set_gazebo_model_path,
-        #world_server,
+        # worldflip,
         world_client,
         bridge,
         # robot_state_publisher,