Changes to bot config files and some minor fixes #373
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The fix was trickier than that
astrobee/config/robots/bsharp.config
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| scicam_to_hazcam_transform = transform(vec3(0.0070938664, 0.061024816, -0.11184277), quat4(0.065639737, -0.031237584, 0.99720414, -0.017307023)), | ||
| nav_cam_to_haz_cam_transform = transform(vec3(0.071421481, -0.00030319673, 0.0018058249), quat4(-0.0030431141, 0.0092646368, 0.99993195, 0.0064039206)), | ||
| nav_cam_to_sci_cam_transform = transform(vec3(-0.076526224, 0.011869553, 0.045409155), quat4(-0.0035414316, 0.0048089362, -0.0071515076, 0.99995659)), | ||
| nav_cam_to_haz_cam_timestamp_offset = -0.02, |
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I don't think the geometry section is the best place for time offsets. Maybe in the calibrations section would be better? Or if you have another idea.
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Strictly speaking the camera transforms are also calibrated quantities, just like the offsets. But I see your point. The offsets would probably belong under each camera's intrinsics, further down the config file, in the robot_calibrations subsection. I'll implement this tomorrow if there's no further comments. |
Otherwise it looks good to me! Thanks! |
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I moved the offsets to the robot_calibrations namespace. I checked that the bot files for bumble, honey, queen, and bsharp load well and work as expected, and that the rest follow the same logic (a script was used to consistently convert their format). I will merge this once the tests pass. |
* Check if a given value is a number before reading it as a real The fix was trickier than that * Update bumble and bsharp2 to new transforms * Update the placeholder transforms for the rest of the bots * iss.rivz: Sci cam is compressed * astrobee readme: Point out to simulator page * build_map: Print the robot name upfront, to avoid mistakes * calibrate: Mention that pico_proxy is now started automatically * simulation: wording fix * Minor indentation fix in robot config files * iss_viz.rviz: Sci cam is compressed * build_map: Make the linter happy * Move timestamp offsets from geometry to robot calibration namespace * Minor typo fix * Wipe file added by mistake
This commit changes all the robot config files to reflect a more generic approach of defining relationships between camera transforms. All the camera transforms and timestamp offsets are now relative to nav cam. This is only relevant for ISAAC.
I also put a fix in reading config files so it does not complain when a table is read instead of number for the distortion parameters. For that, I added to config_reader a function which can peek and see if a field is a number or a table.
I modified the calibration doc to note that nowadays pico_proxy is launched automatically (as long as drivers are launched), but kept the original logic for how to launch it separately if necessary.
Then I fixed a bug in iss.rviz. The sci cam topic should be compressed, otherwise it can't be displayed.