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Commit 524c9fe6 authored by Fernando Herrero's avatar Fernando Herrero
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Update rviz file, remove static transform when fake_localization disabled,...

Update rviz file, remove static transform when fake_localization disabled, updated top_camera distorsion params
parent 1613d1d8
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......@@ -5,10 +5,8 @@ Panels:
Property Tree Widget:
Expanded:
- /Odometry1/Shape1
- /VisualGPSOdometry1/Shape1
- /VisualGPSOdometry1/Covariance1
Splitter Ratio: 0.72622478
Tree Height: 256
Tree Height: 602
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
......@@ -42,22 +40,42 @@ Visualization Manager:
Name: Grid
Normal Cell Count: 0
Offset:
X: 3
Y: 3.25
X: 0
Y: -5
Z: 0.00999999978
Plane: XY
Plane Cell Count: 10
Plane Cell Count: 12
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
All Enabled: false
base_link:
Value: true
body:
Value: true
building1_body:
Value: true
building1_link:
Value: true
building2_body:
Value: true
building2_link:
Value: true
building3_body:
Value: true
building3_link:
Value: true
building4_body:
Value: true
building4_link:
Value: true
building5_body:
Value: true
building5_link:
Value: true
buildings_base_link:
Value: true
camera_board:
......@@ -81,6 +99,46 @@ Visualization Manager:
laser:
Value: true
map:
Value: false
obstacle1/base_footprint:
Value: true
obstacle1/base_link:
Value: true
obstacle1/body:
Value: true
obstacle1/odom:
Value: true
obstacle2/base_footprint:
Value: true
obstacle2/base_link:
Value: true
obstacle2/body:
Value: true
obstacle2/odom:
Value: true
obstacle3a/base_footprint:
Value: true
obstacle3a/base_link:
Value: true
obstacle3a/body:
Value: true
obstacle3a/odom:
Value: true
obstacle3b/base_footprint:
Value: true
obstacle3b/base_link:
Value: true
obstacle3b/body:
Value: true
obstacle3b/odom:
Value: true
obstacle3c/base_footprint:
Value: true
obstacle3c/base_link:
Value: true
obstacle3c/body:
Value: true
obstacle3c/odom:
Value: true
odom:
Value: true
......@@ -116,8 +174,108 @@ Visualization Manager:
Value: true
road_base_link_body:
Value: true
roundabout1_light_image:
Value: true
roundabout1_light_link:
Value: true
roundabout1_link:
Value: true
roundabout1_tag_image:
Value: true
roundabout1_tag_link:
Value: true
roundabout2_light_image:
Value: true
roundabout2_light_link:
Value: true
roundabout2_link:
Value: true
roundabout2_tag_image:
Value: true
roundabout2_tag_link:
Value: true
semaphore_intersection1_light_image:
Value: true
semaphore_intersection1_light_link:
Value: true
semaphore_intersection1_link:
Value: true
semaphore_intersection1_tag_image:
Value: true
semaphore_intersection1_tag_link:
Value: true
semaphore_parking1_light_image:
Value: true
semaphore_parking1_light_link:
Value: true
semaphore_parking1_link:
Value: true
semaphore_parking1_tag_image:
Value: true
semaphore_parking1_tag_link:
Value: true
semaphore_parking2_light_image:
Value: true
semaphore_parking2_light_link:
Value: true
semaphore_parking2_link:
Value: true
semaphore_parking2_tag_image:
Value: true
semaphore_parking2_tag_link:
Value: true
semaphore_start1_light_image:
Value: true
semaphore_start1_light_link:
Value: true
semaphore_start1_link:
Value: true
semaphore_start1_tag_image:
Value: true
semaphore_start1_tag_link:
Value: true
semaphore_start2_light_image:
Value: true
semaphore_start2_light_link:
Value: true
semaphore_start2_link:
Value: true
semaphore_start2_tag_image:
Value: true
semaphore_start2_tag_link:
Value: true
sensor_board:
Value: true
signal_left1_light_image:
Value: true
signal_left1_light_link:
Value: true
signal_left1_link:
Value: true
signal_left1_tag_image:
Value: true
signal_left1_tag_link:
Value: true
signal_right1_light_image:
Value: true
signal_right1_light_link:
Value: true
signal_right1_link:
Value: true
signal_right1_tag_image:
Value: true
signal_right1_tag_link:
Value: true
stop1_light_image:
Value: true
stop1_light_link:
Value: true
stop1_link:
Value: true
stop1_tag_image:
Value: true
stop1_tag_link:
Value: true
top_camera:
Value: true
top_camera_optical:
......@@ -136,7 +294,21 @@ Visualization Manager:
Tree:
world:
buildings_base_link:
{}
building1_link:
building1_body:
{}
building2_link:
building2_body:
{}
building3_link:
building3_body:
{}
building4_link:
building4_body:
{}
building5_link:
building5_body:
{}
ceiling_base_link:
panel_blue:
{}
......@@ -173,6 +345,31 @@ Visualization Manager:
{}
laser:
{}
obstacle1/odom:
obstacle1/base_footprint:
obstacle1/base_link:
obstacle1/body:
{}
obstacle2/odom:
obstacle2/base_footprint:
obstacle2/base_link:
obstacle2/body:
{}
obstacle3a/odom:
obstacle3a/base_footprint:
obstacle3a/base_link:
obstacle3a/body:
{}
obstacle3b/odom:
obstacle3b/base_footprint:
obstacle3b/base_link:
obstacle3b/body:
{}
obstacle3c/odom:
obstacle3c/base_footprint:
obstacle3c/base_link:
obstacle3c/body:
{}
perimeter_base_footprint:
perimeter_base_link:
perimeter_body1:
......@@ -190,9 +387,77 @@ Visualization Manager:
road_base_link_body:
{}
trafficlights_extra_example_base_link:
{}
roundabout1_link:
roundabout1_light_link:
roundabout1_light_image:
{}
roundabout1_tag_link:
roundabout1_tag_image:
{}
roundabout2_link:
roundabout2_light_link:
roundabout2_light_image:
{}
roundabout2_tag_link:
roundabout2_tag_image:
{}
semaphore_intersection1_link:
semaphore_intersection1_light_link:
semaphore_intersection1_light_image:
{}
semaphore_intersection1_tag_link:
semaphore_intersection1_tag_image:
{}
signal_left1_link:
signal_left1_light_link:
signal_left1_light_image:
{}
signal_left1_tag_link:
signal_left1_tag_image:
{}
signal_right1_link:
signal_right1_light_link:
signal_right1_light_image:
{}
signal_right1_tag_link:
signal_right1_tag_image:
{}
stop1_link:
stop1_light_link:
stop1_light_image:
{}
stop1_tag_link:
stop1_tag_image:
{}
trafficlights_fixed_base_link:
{}
semaphore_parking1_link:
semaphore_parking1_light_link:
semaphore_parking1_light_image:
{}
semaphore_parking1_tag_link:
semaphore_parking1_tag_image:
{}
semaphore_parking2_link:
semaphore_parking2_light_link:
semaphore_parking2_light_image:
{}
semaphore_parking2_tag_link:
semaphore_parking2_tag_image:
{}
semaphore_start1_link:
semaphore_start1_light_link:
semaphore_start1_light_image:
{}
semaphore_start1_tag_link:
semaphore_start1_tag_image:
{}
semaphore_start2_link:
semaphore_start2_light_link:
semaphore_start2_light_image:
{}
semaphore_start2_tag_link:
semaphore_start2_tag_image:
{}
Update Interval: 0
Value: true
- Alpha: 0.899999976
......@@ -411,12 +676,103 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
All Links Enabled:
{}
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
semaphore_parking1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_parking1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_parking2_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking2_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_parking2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking2_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_parking2_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_start1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_start1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_start2_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start2_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_start2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start2_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_start2_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
trafficlights_fixed_base_link:
Alpha: 1
Show Axes: false
......@@ -432,12 +788,149 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
All Links Enabled:
{}
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
roundabout1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
roundabout1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
roundabout2_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout2_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
roundabout2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout2_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
roundabout2_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_intersection1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_intersection1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
semaphore_intersection1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_intersection1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
semaphore_intersection1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
signal_left1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_left1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
signal_left1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_left1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_left1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
signal_right1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_right1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
signal_right1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_right1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
signal_right1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
stop1_light_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
stop1_light_link:
Alpha: 1
Show Axes: false
Show Trail: false
stop1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
stop1_tag_image:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
stop1_tag_link:
Alpha: 1
Show Axes: false
Show Trail: false
trafficlights_extra_example_base_link:
Alpha: 1
Show Axes: false
......@@ -453,12 +946,56 @@ Visualization Manager:
Collision Enabled: false
Enabled: true
Links:
All Links Enabled:
{}
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
building1_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
building1_link:
Alpha: 1
Show Axes: false
Show Trail: false
building2_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
building2_link:
Alpha: 1
Show Axes: false
Show Trail: false
building3_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
building3_link:
Alpha: 1
Show Axes: false
Show Trail: false
building4_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
building4_link:
Alpha: 1
Show Axes: false
Show Trail: false
building5_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
building5_link:
Alpha: 1
Show Axes: false
Show Trail: false
buildings_base_link:
Alpha: 1
Show Axes: false
......@@ -479,6 +1016,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: Obstacle1Model
Robot Description: obstacle1_description
TF Prefix: obstacle1
......@@ -495,6 +1045,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: Obstacle2Model
Robot Description: obstacle2_description
TF Prefix: obstacle2
......@@ -511,6 +1074,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: Obstacle3aModel
Robot Description: obstacle3a_description
TF Prefix: obstacle3a
......@@ -527,6 +1103,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: Obstacle3bModel
Robot Description: obstacle3b_description
TF Prefix: obstacle3b
......@@ -543,6 +1132,19 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: Obstacle3cModel
Robot Description: obstacle3c_description
TF Prefix: obstacle3c
......@@ -600,9 +1202,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 0
Min Intensity: -2.05829813e-31
Name: RP_Lidar
Position Transformer: XYZ
Queue Size: 10
......@@ -669,52 +1271,79 @@ Visualization Manager:
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /blob3/image_out/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: BlobImage
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: true
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 1
Name: VisualGPSOdometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 85; 85; 255
Head Length: 0.400000006
Head Radius: 0.400000006
Shaft Length: 1
Shaft Radius: 0.200000003
Value: Arrow
Topic: /iri_visual_gps/odom
Unreliable: false
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
- Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Class: rviz/Pose
Color: 85; 255; 255
Enabled: true
Head Length: 0.5
Head Radius: 0.300000012
Name: VisualGpsPose
Shaft Length: 1.5
Shaft Radius: 0.200000003
Shape: Arrow
Topic: /iri_visual_gps/pose
Unreliable: false
Value: true
Value: false
Enabled: true
Keep: 2
Name: VisualGPSOdometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 85; 85; 255
Head Length: 0.100000001
Head Radius: 0.100000001
Shaft Length: 0.25
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /visual_gps/odom
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /iri_visual_gps/markers
Name: VisualGpsMarkers
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /blob_detector_red/image_out/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: BlobImage
Normalize Range: true
Queue Size: 2
Transport Hint: compressed
Unreliable: false
Value: false
Enabled: false
Name: VisualGPS
Enabled: true
Global Options:
Background Color: 26; 26; 26
......@@ -740,35 +1369,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 19.7382278
Distance: 19.2443409
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 2.49929953
Y: 3.32250428
Z: 0.565967321
X: -0.252488881
Y: -4.44192934
Z: -0.00389754726
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.49039757
Pitch: 1.56979632
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 3.13040161
Yaw: 3.14039445
Saved: ~
Window Geometry:
BlobImage:
collapsed: false
Displays:
collapsed: false
Height: 751
Height: 817
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Time:
......@@ -777,9 +1406,9 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1263
X: 537
Y: 215
Width: 1395
X: 65
Y: 24
camera_Image:
collapsed: false
top_camera_Image:
......
......@@ -95,9 +95,11 @@
<group unless="$(arg fake_localization)">
<!--
<node name="$(arg name)_static_tf_map_odom" pkg="tf" type="static_transform_publisher"
args="0 0 0.04 0 0 0 $(arg map_frame) $(arg odom_frame) 100">
</node>
-->
</group>
......
......@@ -17,5 +17,6 @@
<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/front_rgbd_camera.gazebo" />
<!--<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/front_rgb_camera.gazebo" />--> <!-- only rgb, no depth-->
<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/top_camera.gazebo" />
<!--<xacro:include filename="$(find seat_car_description)/urdf/include/sensors/top_camera_nodist.gazebo" /> -->
</robot>
\ No newline at end of file
......@@ -16,21 +16,21 @@
<!-- -->
<sensor type="wideanglecamera" name="${top_camera_name}">
<camera>
<horizontal_fov>3.14159</horizontal_fov>
<horizontal_fov>3.14</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<distortion>
<k1>-0.262853</k1>
<k2>0.034736</k2>
<k1>-0.148047</k1>
<k2>0.013815</k2>
<k3>0.000000</k3>
<p1>0.000539</p1>
<p2>0.000405</p2>
<p1>0.000267</p1>
<p2>-0.003799</p2>
</distortion>
<lens>
<type>stereographic</type>
......@@ -49,15 +49,17 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.0</hackBaseline>
<distortionK1>-0.262853</distortionK1>
<distortionK2>0.034736</distortionK2>
<distortionK1>-0.148047</distortionK1>
<distortionK2>0.013815</distortionK2>
<distortionK3>0.000000</distortionK3>
<distortionT1>0.000539</distortionT1>
<distortionT2>0.000405</distortionT2>
<!-- <CxPrime>526.104889</CxPrime>
<Cx>526.104889</Cx>
<Cy>403.143888</Cy>-->
<focalLength>513.238105</focalLength>
<distortionT1>0.000267</distortionT1>
<distortionT2>-0.003799</distortionT2>
<!--
<CxPrime>321.489066</CxPrime>
<Cx>321.4890669</Cx>
<Cy>241.234121</Cy>
-->
<focalLength>217.571334</focalLength>
<borderCrop>true</borderCrop>
</plugin>
</sensor>
......
......@@ -18,19 +18,21 @@
<camera>
<horizontal_fov>2.36</horizontal_fov>
<image>
<width>1024</width>
<height>768</height>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<!-- <lens>
<!--
<lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5707</cutoff_angle>
<env_texture_size>512</env_texture_size>
</lens>-->
</lens>
-->
</camera>
<always_on>1</always_on>
<update_rate>${rate}</update_rate>
......@@ -42,11 +44,13 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.0</hackBaseline>
<!-- <distortionK1>-0.241471</distortionK1>
<!--
<distortionK1>-0.241471</distortionK1>
<distortionK2>0.038162</distortionK2>
<distortionK3>0.000000</distortionK3>
<distortionT1>0.005967</distortionT1>
<distortionT2>-0.002110</distortionT2>-->
<distortionT2>-0.002110</distortionT2>
-->
</plugin>
</sensor>
......
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