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added another camera for side view on quadrotor and tf on rviz #59

Open iKrishneel opened 8 years ago

iKrishneel commented 8 years ago

Side Facing Camera 25m

Downward Facing Camera frame0000

k-okada commented 8 years ago

thanks, please add captured screen of rviz so that everyone can share how we can see world through the sensors.

iKrishneel commented 8 years ago

added the screen shot

k-okada commented 8 years ago

can you complete this task with this camera? I suppose

k-okada commented 8 years ago

possible solutions are

you can check thew camera view with http://jsk-visualization.readthedocs.org/en/latest/jsk_rviz_plugins/plugins/camera_info.html

iKrishneel commented 8 years ago

This side camera at the moment we are using to detect the moving vehicle. Yes as mentioned this is not sufficient for whole task, but at the moment we are trying to experiment simple method of detecting the target and moving to the track.

At the moment we are planning to equip the UAV with 2 or 3 RGB camera and Fish-Eye to cover wide field of view, perhaps to keep the arena in view always.

k-okada commented 8 years ago

please try to put camera a little bit down direction, not parallel to the horizontal plane, because you do not have to see upside. if you have 100 degree view , you can set 50 degree.

◉ Kei Okada

On Thu, Mar 17, 2016 at 8:28 PM, Krishneel notifications@github.com wrote:

This side camera at the moment we are using to detect the moving vehicle. Yes as mentioned this is not sufficient for whole task, but at the moment we are trying to experiment simple method of detecting the target and moving to the track.

At the moment we are planning to equip the UAV with 2 or 3 RGB camera and Fish-Eye to cover wide field of view, perhaps to keep the arena in view always.

— You are receiving this because you commented. Reply to this email directly or view it on GitHub https://github.com/start-jsk/jsk_mbzirc/pull/59#issuecomment-197832957

tongtybj commented 8 years ago

It seems that the head direction of drone is wrong... it is inverse. So when I put the command "go forward", the drone flyes backward acctually... The reason is we did not set the correct yaw direction like "x" in https://github.com/start-jsk/jsk_mbzirc/blob/master/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_1.launch#L30

And it seems like that the "yaw" is not given as rosparam in https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/blob/indigo-devel/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch#L28

tongtybj commented 8 years ago

Sorry for my ignorance.... Found the param "Y" in https://github.com/ros-simulation/gazebo_ros_pkgs/blob/jade-devel/gazebo_ros/scripts/spawn_model#L64

@iKrishneel In fact the side camera is set backward. We should set the drone ariframe in the correction direction first, then correct the camera direction in https://github.com/iKrishneel/jsk_mbzirc/blob/hector-camera/jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro#L32

iKrishneel commented 8 years ago

@tongtybj sorry that is correct, I did change that on my file but didnt send the PR. I think this PR should not be merged but as we talked, Gimbal will be best solution.

k-okada commented 8 years ago

I don't think gimbal is a good idea, because of it requires more weight, if you have high resolution image (xga is fine) with wide lens, it can provide virtual gimbal Please check opt camera http://www.optnagano.co.jp/product/nm_camera.html

2016年3月28日月曜日、Krishneelnotifications@github.comさんは書きました:

@tongtybj https://github.com/tongtybj sorry that is correct, I did change that on my file but didnt send the PR. I think this PR should not be merged but as we talked, Gimbal will be best solution.

— You are receiving this because you commented. Reply to this email directly or view it on GitHub https://github.com/start-jsk/jsk_mbzirc/pull/59#issuecomment-202275333

◉ Kei Okada

tongtybj commented 8 years ago

@iKrishneel OK, acctually the direction of drone shoud be change about Yaw, becuase the recent head dirrection is wrong, this request is unrelated with the issue of camera. So, could you please send a pr of the correction of drone direction.

@k-okada I think both of idea is worth to try.
As to the gimbal solution, actually, the whole weight we design for drone is about 5Kg. and the wieght of gimbal for board type camera is less than 100g. That is the addition weight due to the gimbal is not a big matter for the flight time problem. For the eyefish camera, thank you for sharing the info of opt camera. I will try the existing item in JSK like nm33. And I also watch another commercial board type camera(ids) like https://jp.ids-imaging.com/store/produkte/kameras/ids-interface/usb-3.0-gige/ids-housing/%E3%83%9C%E3%83%BC%E3%83%89%E3%83%AC%E3%83%99%E3%83%AB/page/3/mode/list.html. I used to buy some board camera from here, they can provide a suitable lens according to our request.

k-okada commented 8 years ago

if you put existing wide lens camera, you can try task 1 on simulation immediately, I believe running task on simulation is the higher priority then designing gimbal, compile opencv, ....

◉ Kei Okada

On Tue, Mar 29, 2016 at 7:03 PM, 趙 漠居 notifications@github.com wrote:

@iKrishneel https://github.com/iKrishneel OK, acctually the direction of drone shoud be change about Yaw, becuase the recent head dirrection is wrong, this request is unrelated with the issue of camera. So, could you please send a pr of the correction of drone direction. @k-okada https://github.com/k-okada I think both of idea is worth to try.

As to the gimbal solution, actually, the whole weight we design for drone is about 5Kg. and the wieght of gimbal for board type camera is less than 100g. That is the addition weight due to the gimbal is not a big matter for the flight time problem. For the eyefish camera, thank you for sharing the info of opt camera. I will try the existing item in JSK like nm33. And I also watch another commercial board type camera(ids) like https://jp.ids-imaging.com/store/produkte/kameras/ids-interface/usb-3.0-gige/ids-housing/%E3%83%9C%E3%83%BC%E3%83%89%E3%83%AC%E3%83%99%E3%83%AB/page/3/mode/list.html . I used to buy some board camera from here, they can provide a suitable lens according to our request.

— You are receiving this because you were mentioned. Reply to this email directly or view it on GitHub https://github.com/start-jsk/jsk_mbzirc/pull/59#issuecomment-202816551