From eb7a1ecb43e9fece1c20b93d0e104c756edb4494 Mon Sep 17 00:00:00 2001
From: Krishneel <krishneel.chand.chaudhary@gmail.com>
Date: Wed, 16 Mar 2016 14:19:47 +0900
Subject: [PATCH] added another camera for side view on quadrotor and tf on
 rviz

---
 jsk_mbzirc_tasks/config/task1.rviz            | 31 ++++++++++++++++---
 ...with_hokyo30lx_and_downward_cam.urdf.xacro | 12 +++++--
 2 files changed, 37 insertions(+), 6 deletions(-)

diff --git a/jsk_mbzirc_tasks/config/task1.rviz b/jsk_mbzirc_tasks/config/task1.rviz
index 5d825f3..6e8c2c7 100644
--- a/jsk_mbzirc_tasks/config/task1.rviz
+++ b/jsk_mbzirc_tasks/config/task1.rviz
@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /OverlayText1
       Splitter Ratio: 0.5
-    Tree Height: 428
+    Tree Height: 412
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -77,6 +77,14 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        side_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        side_cam_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         sonar_link:
           Alpha: 1
           Show Axes: false
@@ -131,6 +139,7 @@ Visualization Manager:
         LaserScan: true
         OverlayText: true
         RobotModel: true
+        TF: true
         Value: true
       Zoom Factor: 1
     - Background Alpha: 0.8
@@ -151,6 +160,20 @@ Visualization Manager:
       text size: 64
       top: 10
       width: 370
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -200,7 +223,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000018d00000396fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000023b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000c00430061006d0065007200610100000269000001550000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004970000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000018d0000038bfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006800fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000234000000e600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000c00430061006d0065007200610100000262000001510000001a00ffffff00000001000001130000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000038b000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000044fc0100000002fb0000000800540069006d006501000000000000073f0000038800fffffffb0000000800540069006d00650100000000000004500000000000000000000004930000038b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -210,5 +233,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1855
-  X: 65
-  Y: 24
+  X: 68
+  Y: 17
diff --git a/jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro b/jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro
index 76a1b45..ebab46b 100644
--- a/jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro
+++ b/jsk_mbzirc_tasks/urdf/quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro
@@ -14,15 +14,23 @@
     
     <!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
     <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
-    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" ray_count="1081" min_angle="-135" max_angle="135">
+    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" 
+			  ray_count="1081" min_angle="-135" max_angle="135">
       <origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
     </xacro:hokuyo_utm30lx>
 
     <!-- Downward facing camera -->
     <xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
-    <xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
+    <xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" 
+			  update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
       <origin xyz="0.4 0.0 -0.0" rpy="0 ${M_PI/2} 0"/>
     </xacro:generic_camera>
+    
+    <!-- side facing camera -->
+    <xacro:generic_camera name="side_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" 
+			  update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
+      <origin xyz="-0.4 0.0 -0.0" rpy="${M_PI} ${M_PI} 0"/>
+    </xacro:generic_camera>
 
 </robot>