fix baro and mag frame links for ZED2i

zzx9636 · Mar 16, 2022 · d02d203 · d02d203
1 parent 1299a1c
commit d02d203
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/zed_wrapper/params/zed2.yaml b/zed_wrapper/params/zed2.yaml
@@ -18,7 +18,7 @@ sensors:
 
 object_detection:
     od_enabled:                 false           # True to enable Object Detection [not available for ZED]
-    model:                      2               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
+    model:                      0               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects

diff --git a/zed_wrapper/params/zed2i.yaml b/zed_wrapper/params/zed2i.yaml
@@ -18,7 +18,7 @@ sensors:
 
 object_detection:
     od_enabled:                 false           # True to enable Object Detection [not available for ZED]
-    model:                      1               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
+    model:                      0               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects

diff --git a/zed_wrapper/params/zedm.yaml b/zed_wrapper/params/zedm.yaml
@@ -17,8 +17,8 @@ sensors:
     publish_imu_tf:             true            # publish `IMU -> <cam_name>_left_camera_frame` TF
 
 object_detection:
-    od_enabled:                 true           # True to enable Object Detection [not available for ZED]
-    model:                      3               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
+    od_enabled:                 false           # True to enable Object Detection [not available for ZED]
+    model:                      0               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects

diff --git a/zed_wrapper/urdf/zed_macro.urdf.xacro b/zed_wrapper/urdf/zed_macro.urdf.xacro
@@ -125,7 +125,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
     <!-- ZED2 Sensors -->
-    <xacro:if value="${model == 'zed2'}">
+    <xacro:if value="${model == 'zed2' or model == 'zed2i'}">
       <link name="${name}_mag_link" />
       <joint name="${name}_mag_joint" type="fixed">
         <parent link="${name}_camera_center"/>