This is ROS2 code used in fisheye camera to estiminate the position of IR led.

1 Build

colcon build

2 Open the UWB

ros2 launch nlink_parser_ros2 linktrack.launch.py

Check the data received by:

source install/setup.bash
ros2 topic echo /nlink_linktrack_nodeframe2

3 Open the IR LED measure

ros2 launch ir_led_measure ir_launch.py

4 Open the ouster lidar to get the reflict data:

ros2 run reflict scan_node.py

5 Get the rosbag

cd bags
ros2 bag record /fused_position
ros2 bag record /reflict_center
ros2 bag record /reflict_center /fused_position

View by the python code in bags

7 Calibration

ros2 launch ir_led_measure rosbag_launch.py
ros2 bag record /camera/image_raw