<!-- For Stereo Camera Payload --> <include> <uri>model://stereo_camera</uri> <pose>0.1 0 0 0 0 0</pose> </include>
时间: 2023-12-14 07:02:11 浏览: 30
这段代码是用于在Gazebo仿真环境中添加一个名为"stereo_camera"的模型,并设置其初始位置和方向。这个模型应该是一个双目相机的模型,用于模拟双目视觉系统。其中,`<uri>`标签指定了模型文件的路径,`<pose>`标签指定了模型的位置姿态,以x、y、z坐标和roll、pitch、yaw角度表示。在这里,双目相机的初始位置是在世界坐标系下x轴方向0.1米处,其余坐标为0。
相关问题
<launch> <node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen"> <param name="width" type="int" value="1920" /> <param name="height" type="int" value="1080" /> <param name="fps" type="int" value="30" /> <param name="frame" type="string" value="wide_stereo" /> <param name="auto_focus" type="bool" value="False" /> <param name="focus_absolute" type="int" value="0" /> <!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency --> <param name="device" type="string" value="/dev/video0" /> <param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" /> </node> </launch>
您提供的Launch文件中包含了使用uvc_camera节点来启动摄像头的配置。根据您的配置,摄像头将以1920x1080分辨率、30帧每秒的速度运行,并且关闭自动对焦功能并将焦距设置为0。此外,您还指定了摄像头设备的路径和相机信息文件的路径。
如果在RViz中看到"image status: warn"警告消息,以下是一些可能的解决方法:
1. 检查设备路径:确保"/dev/video0"是正确的摄像头设备路径。您可以使用以下命令检查摄像头设备是否存在:
```
ls -l /dev/video0
```
如果设备路径不正确或设备不存在,请根据您的实际情况更正设备路径。
2. 检查相机信息文件:确保相机信息文件存在并且路径正确。您可以使用以下命令检查文件是否存在:
```
ls -l <path_to_file>
```
如果文件路径不正确或文件不存在,请根据您的实际情况更正文件路径。
3. 检查摄像头驱动程序和依赖项:确保已正确安装uvc_camera软件包和其依赖项。您可以通过以下命令来安装uvc_camera软件包:
```
sudo apt-get install ros-<distro>-uvc-camera
```
请将"<distro>"替换为您正在使用的ROS发行版(如melodic、noetic等)。
4. 检查其他警告和错误消息:在RViz中查看其他警告和错误消息,以获取更多关于问题的线索。确保所有节点和话题都正常运行,并且没有其他冲突或配置错误。
如果问题仍然存在,您可以尝试在ROS社区或相关论坛上寻求帮助,提供更详细的错误信息和环境配置。他们可能能够为您提供更具体的解决方案。
cd C:\Program Files\FlightGear fgfs --fg-root=C:\Program Files\FlightGear\data --aircraft=ufo --in-air --fdm=null --telnet=5501 --telnet=5502 --telnet=5503 --disable-ai-traffic --disable-real-weather-fetch --disable-random-objects --disable-terrasync --disable-clouds --disable-sound --disable-panel --disable-hud --disable-specular-highlight --timeofday=noon --prop:/sim/rendering/multi-sample-buffers=1 --prop:/sim/rendering/multi-samples=2 --prop:/sim/rendering/draw-mask-clouds=false --prop:/sim/rendering/draw-mask-terrain=true --prop:/sim/rendering/draw-mask-objects=true --prop:/sim/rendering/draw-mask-lights=true --prop:/sim/rendering/draw-mask-internal=true --prop:/sim/rendering/draw-mask-cockpit=true --prop:/sim/rendering/draw-mask-effects=true --prop:/sim/rendering/draw-mask-overlay=true --prop:/sim/rendering/draw-mask-world=true --prop:/sim/rendering/draw-mask-panel=true --prop:/sim/rendering/draw-mask-vr=true --prop:/sim/rendering/draw-mask-2d=true --prop:/sim/rendering/draw-mask-3d=true --prop:/sim/rendering/draw-mask-sky=true --prop:/sim/rendering/draw-mask-shadows=true --prop:/sim/rendering/draw-mask-cabin=true --prop:/sim/rendering/draw-mask-weather=true --prop:/sim/rendering/draw-mask-stereo=true --prop:/sim/rendering/draw-mask-internal-cockpit=true --prop:/sim/rendering/draw-mask-internal-windows=true --prop:/sim/rendering/draw-mask-internal-instruments=true --prop:/sim/rendering/draw-mask-internal-overlay=true --prop:/sim/rendering/draw-mask-internal-effects=true --prop:/sim/rendering/draw-mask-internal-lights=true --prop:/sim/rendering/draw-mask-internal-world=true --prop:/sim/rendering/draw-mask-internal-panel=true --prop:/sim/rendering/draw-mask-internal-3d=true --prop:/sim/rendering/draw-mask-internal-sky=true --prop:/sim/rendering/draw-mask-internal-cabin=true --prop:/sim/rendering/draw-mask-internal-weather=true --prop:/sim/rendering/draw-mask-internal-stereo=true --prop:/sim/rendering/draw-mask-internal-shadow=true --prop:/sim/rendering/draw-mask-internal-stall=true --prop:/sim/rendering/draw-mask-internal-aoa=true --prop:/sim/rendering/draw-mask-internal-thermal=false --prop:/sim/rendering/draw-mask-internal-ice=false --prop:/sim/rendering/draw-mask-internal-glass=true --prop:/sim/rendering/draw-mask-internal-dead=true --prop:/sim/rendering/draw-mask-internal-reflection=true程序显示错误unknown command-line option: enable-hud-2d怎么解决
你可以尝试将启用2D HUD的选项从命令行中移除,改为在游戏内部手动启用。可以尝试修改命令行参数为:
```
cd C:\Program Files\FlightGear fgfs --fg-root=C:\Program Files\FlightGear\data --aircraft=ufo --in-air --fdm=null --telnet=5501 --telnet=5502 --telnet=5503 --disable-ai-traffic --disable-real-weather-fetch --disable-random-objects --disable-terrasync --disable-clouds --disable-sound --disable-panel --timeofday=noon --prop:/sim/rendering/multi-sample-buffers=1 --prop:/sim/rendering/multi-samples=2 --prop:/sim/rendering/draw-mask-clouds=false --prop:/sim/rendering/draw-mask-terrain=true --prop:/sim/rendering/draw-mask-objects=true --prop:/sim/rendering/draw-mask-lights=true --prop:/sim/rendering/draw-mask-internal=true --prop:/sim/rendering/draw-mask-cockpit=true --prop:/sim/rendering/draw-mask-effects=true --prop:/sim/rendering/draw-mask-overlay=true --prop:/sim/rendering/draw-mask-world=true --prop:/sim/rendering/draw-mask-panel=true --prop:/sim/rendering/draw-mask-vr=true --prop:/sim/rendering/draw-mask-3d=true --prop:/sim/rendering/draw-mask-sky=true --prop:/sim/rendering/draw-mask-shadows=true --prop:/sim/rendering/draw-mask-cabin=true --prop:/sim/rendering/draw-mask-weather=true --prop:/sim/rendering/draw-mask-stereo=true --prop:/sim/rendering/draw-mask-internal-cockpit=true --prop:/sim/rendering/draw-mask-internal-windows=true --prop:/sim/rendering/draw-mask-internal-instruments=true --prop:/sim/rendering/draw-mask-internal-overlay=true --prop:/sim/rendering/draw-mask-internal-effects=true --prop:/sim/rendering/draw-mask-internal-lights=true --prop:/sim/rendering/draw-mask-internal-world=true --prop:/sim/rendering/draw-mask-internal-panel=true --prop:/sim/rendering/draw-mask-internal-3d=true --prop:/sim/rendering/draw-mask-internal-sky=true --prop:/sim/rendering/draw-mask-internal-cabin=true --prop:/sim/rendering/draw-mask-internal-weather=true --prop:/sim/rendering/draw-mask-internal-stereo=true --prop:/sim/rendering/draw-mask-internal-shadow=true --prop:/sim/rendering/draw-mask-internal-stall=true --prop:/sim/rendering/draw-mask-internal-aoa=true --prop:/sim/rendering/draw-mask-internal-thermal=false --prop:/sim/rendering/draw-mask-internal-ice=false --prop:/sim/rendering/draw-mask-internal-glass=true --prop:/sim/rendering/draw-mask-internal-dead=true --prop:/sim/rendering/draw-mask-internal-reflection=true
```
然后在游戏内部手动启用2D HUD。