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mypatchfile.patch
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diff --git a/rotors_description/urdf/asus_camera.urdf.xacro b/rotors_description/urdf/asus_camera.urdf.xacro
index 262d47f..04cd8e0 100644
--- a/rotors_description/urdf/asus_camera.urdf.xacro
+++ b/rotors_description/urdf/asus_camera.urdf.xacro
@@ -59,29 +59,33 @@
<!-- ASUS Xtion PRO camera for simulation -->
<gazebo reference="${name}_depth_frame">
<sensor type="depth" name="${name}">
- <update_rate>30</update_rate>
+ <update_rate>60</update_rate>
<camera>
- <horizontal_fov>${62.8 * M_PI/180.0}</horizontal_fov>
+ <!--<horizontal_fov>${62.8 * M_PI/180.0}</horizontal_fov>-->
+ <horizontal_fov>${69.5 * M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
- <width>640</width>
- <height>480</height>
+ <width>2040</width>
+ <height>1086</height>
+ <!--<width>204</width>
+ <height>108</height>-->
</image>
<clip>
<near>0.5</near>
- <far>9</far>
+ <far>100</far>
</clip>
</camera>
<plugin name="${name}_camera_controller" filename="libgazebo_ros_openni_kinect.so">
<robotNamespace>${namespace}</robotNamespace>
<alwaysOn>true</alwaysOn>
- <updateRate>30</updateRate>
+ <updateRate>60</updateRate>
<imageTopicName>${name}/rgb/image_raw</imageTopicName>
<cameraInfoTopicName>${name}/rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>${name}/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>${name}/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>${name}/depth/points</pointCloudTopicName>
<frameName>${name}_depth_optical_frame</frameName>
+ <pointCloudCutoff>0.6</pointCloudCutoff>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
diff --git a/rotors_description/urdf/firefly_with_kineckt.gazebo b/rotors_description/urdf/firefly_with_kineckt.gazebo
index f2155f5..788a86f 100644
--- a/rotors_description/urdf/firefly_with_kineckt.gazebo
+++ b/rotors_description/urdf/firefly_with_kineckt.gazebo
@@ -37,7 +37,7 @@
<xacro:asus_camera
name="xtion"
parent="${namespace}/base_link">
- <origin xyz="0.15 0.0 0.05" rpy="0 0.7853 0"/>
+ <origin xyz="0.18 0.0 0.07" rpy="0 0.7853 0"/>
</xacro:asus_camera>
<xacro:include filename="$(find rotors_description)/urdf/asus_camera.urdf.xacro" />
diff --git a/rotors_gazebo/resource/lee_controller_firefly.yaml b/rotors_gazebo/resource/lee_controller_firefly.yaml
index 758b4f2..c743edf 100644
--- a/rotors_gazebo/resource/lee_controller_firefly.yaml
+++ b/rotors_gazebo/resource/lee_controller_firefly.yaml
@@ -1,5 +1,5 @@
# Lee position controller parameters
-position_gain: {x: 6, y: 6, z: 6}
+position_gain: {x: 2, y: 2, z: 6}
velocity_gain: {x: 4.7, y: 4.7, z: 4.7}
attitude_gain: {x: 3, y: 3, z: 0.35}
angular_rate_gain: {x: 0.52, y: 0.52, z: 0.18}
diff --git a/rotors_gazebo/worlds/arena_HKT_2.world b/rotors_gazebo/worlds/arena_HKT_2.world
index c559427..4607a9a 100644
--- a/rotors_gazebo/worlds/arena_HKT_2.world
+++ b/rotors_gazebo/worlds/arena_HKT_2.world
@@ -38,1214 +38,7 @@
<direction>0.1 0.1 -1</direction>
</light>
<include>
- <uri>model://custom_ground_plane</uri>
- </include>
- <light name="directional_light.-10.0_-12.0" type="sun">
- <pose>-10.0 -12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.-10.0_0.0" type="sun">
- <pose>-10.0 0.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.-10.0_12.0" type="sun">
- <pose>-10.0 12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.0.0_-12.0" type="sun">
- <pose>0.0 -12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.0.0_0.0" type="sun">
- <pose>0.0 0.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.0.0_12.0" type="sun">
- <pose>0.0 12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.10.0_-12.0" type="sun">
- <pose>10.0 -12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.10.0_0.0" type="sun">
- <pose>10.0 0.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <light name="directional_light.10.0_12.0" type="sun">
- <pose>10.0 12.0 8 0 0 0</pose>
- <cast_shadows>1</cast_shadows>
- <diffuse>0.5 0.5 0.5 1</diffuse>
- <specular>0.1 0.1 0.1 1</specular>
- <attenuation>
- <range>20</range>
- <constant>0.5</constant>
- <linear>0.01</linear>
- <quadratic>0.00</quadratic>
- </attenuation>
- <direction>0.1 0.1 -1.0</direction>
- </light>
- <include>
- <name>wall_2x1.083</name>
- <pose>-7.0 2.468942403793335 0.5130000114440918 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_2x1.084</name>
- <pose>-4.0 -0.531057596206665 0.5130000114440918 0.0 0.0 0.0</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_stand.169</name>
- <pose>-1.8005000352859497 2.0 0.03449999913573265 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.170</name>
- <pose>-0.19949999451637268 2.0 0.03449999913573265 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_2x1.085</name>
- <pose>-7.0 0.46894240379333496 0.5130000114440918 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_2x1.086</name>
- <pose>-7.0 -3.531057596206665 0.5130000114440918 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_2x1.087</name>
- <pose>-7.0 -1.531057596206665 0.5130000114440918 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_2x1.088</name>
- <pose>-6.0 -0.531057596206665 0.5130000114440918 0.0 0.0 0.0</pose>
- <uri>model://wall_2x1</uri>
- </include>
- <include>
- <name>wall_stand.177</name>
- <pose>-0.19949999451637268 2.0 0.03449999913573265 0.0 -0.0 1.570796251296997</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.167</name>
- <pose>-7.0 3.269442558288574 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.168</name>
- <pose>-7.0 1.6684424877166748 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.171</name>
- <pose>-7.0 1.2694425582885742 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.172</name>
- <pose>-7.0 -0.3315575122833252 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.173</name>
- <pose>-7.0 -4.331557273864746 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.174</name>
- <pose>-7.0 -2.730557680130005 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.175</name>
- <pose>-7.0 -0.7305574417114258 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>wall_stand.176</name>
- <pose>-7.0 -2.331557512283325 0.03449999913573265 0.0 0.0 0.0</pose>
- <uri>model://wall_stand</uri>
- </include>
- <include>
- <name>cube_20x20.010</name>
- <pose>-5.073810577392578 0.8086726665496826 0.10000000149011612 0.0 -0.0 3.141592502593994</pose>
- <uri>model://cube_20x20</uri>
- </include>
- <include>
- <name>cube_20x20.011</name>
- <pose>-5.273810386657715 0.6086728572845459 0.10000000149011612 0.0 -0.0 3.141592502593994</pose>
- <uri>model://cube_20x20</uri>
- </include>
- <include>
- <name>cube_20x20.012</name>
- <pose>-5.473810195922852 0.8086726665496826 0.10000000149011612 0.0 -0.0 3.141592502593994</pose>
- <uri>model://cube_20x20</uri>
- </include>
- <include>
- <name>cube_20x20.013</name>
- <pose>-4.873810291290283 0.8086726665496826 0.10000000149011612 0.0 -0.0 3.141592502593994</pose>
- <uri>model://cube_20x20</uri>
- </include>
- <include>
- <name>cube_20x20.014</name>
- <pose>-4.873810291290283 0.4086730480194092 0.10000000149011612 0.0 -0.0 3.141592502593994</pose>
- <uri>model://cube_20x20</uri>
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- <include>
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