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added d455 extrinsic transformations #23

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Nov 8, 2024
Merged

added d455 extrinsic transformations #23

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22 changes: 22 additions & 0 deletions config/transform_d455.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
imu_rate: 200.0
odom_rate: 150.0
init_world_with_vicon: false
viconOdomWTopic: "/$(optenv MAV_NAME quadrotor)/odom"
viconOdomWTopic_ros2: "/odom"
publish_tf: true

T_cam_imu:
r0: {c0: 1.0, c1: 0.0, c2: 0.0, c3: 0.029836072320252652}
r1: {c0: 0.0, c1: 1.0, c2: 0.0, c3: -0.007944309062922818}
r2: {c0: 0.0, c1: 0.0, c2: 1.0, c3: -0.016004636243782153}

T_cam_body:
r0: {c0: 0.0 , c1: -0.0, c2: 1.0, c3: 0.065414}
r1: {c0: -1.0, c1: 0.0, c2: -0.0, c3: -0.0616443}
r2: {c0: 0.0, c1: -1.0, c2: 0.0, c3: -0.0474476}

# the rotation and position of the initial position of robot B0 frame w.r.t world frame
T_B0_W:
r0: {c0: 1.0, c1: 0.0, c2: 0.0, c3: 0.0}
r1: {c0: 0.0, c1: 1.0, c2: 0.0, c3: 0.0}
r2: {c0: 0.0, c1: 0.0, c2: 1.0, c3: 0.0}
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