[fix] fixed simulation config.

Hymilex · Aug 2, 2021 · 0c2539e · 0c2539e
1 parent 974f3f5
commit 0c2539e
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/simulation/scripts/prepare_simulation.sh b/simulation/scripts/prepare_simulation.sh
@@ -11,14 +11,14 @@ export DRONE_ITEM="iris_stereo_rgb_gpulidar_gps"
 #export DRONE_ITEM="standard_vtol"
 #export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/obstacle_avoidance.world
 #export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/obstacle_avoidance_without_iris.world
-export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/obstacle_avoidance_with_unknown_obstacle.world
+#export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/obstacle_avoidance_with_unknown_obstacle.world
 
 #source /usr/local/share/citysim/setup.sh
 #export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/simple_city.world  # need to run 'source /usr/local/share/citysim/setup.sh'
 
 
 #export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/park_large.world
-#export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/park_large_without_iris.world
+export WORLD_ITEM=$PX4_ENV_PATH$SF/Tools/sitl_gazebo/worlds/park_large_without_iris.world
 #To use iris_vision, you need to copy files from GAAS. See Readme.md.
 
 echo "COMMAND: roslaunch px4 $LAUNCH_FILE vehicle:=$DRONE_ITEM"

diff --git a/simulation/src/livox_horizon_simulation/src/livox_horizon_simulation_node.cpp b/simulation/src/livox_horizon_simulation/src/livox_horizon_simulation_node.cpp
@@ -145,10 +145,10 @@ LidarCloudT::Ptr toPointCloud(cv::Mat& depth_masked)
 //            x*=z/len;
 //            y*=z/len;
 //            z*=z/len;
-            PointT pt;
-            pt.x = x;
-            pt.y = y;
-            pt.z = z;
+            PointT pt;//For downward lidar placing:
+            pt.x = -y;
+            pt.y = -x;
+            pt.z = -z;
             newcloud->push_back(pt);
         }
     }
@@ -178,16 +178,16 @@ void callback(const sensor_msgs::ImageConstPtr& img_msg)
     sensor_msgs::PointCloud2 cloud_msg;
     pcl::toROSMsg(*pCloud,cloud_msg);
     cloud_msg.header.stamp = ros::Time::now();
-    cloud_msg.header.frame_id = "livox";
+    cloud_msg.header.frame_id = "lidar";//"livox";
     pPub->publish(cloud_msg);
 
 }
 int main(int argc,char** argv)
 {
     FLAGS_alsologtostderr = 1;
     google::InitGoogleLogging(argv[0]);
-    LOG(INFO)<<"Start vision_lidar_fusion_node."<<endl;
-    ros::init(argc,argv,"vision_lidar_fusion_node");
+    LOG(INFO)<<"Start livox_horizon_sim_node."<<endl;
+    ros::init(argc,argv,"livox_horizon_sim_node");
     ros::NodeHandle nh;
     pNH=&nh;
     LivoxHorizonSim liv;