Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

electrical/firmware/Readme.md

@@ -0,0 +1,5 @@
+# Rover Firmware
+
+----
+
+This is for the code on any micro-controllers on the Rover.

electrical/schematics/circuitmaker_stuff.md

@@ -0,0 +1,65 @@
+# How to CircuitMaker for OSURC Mars Rover
+----
+
+### Install
+Download and install CircuitMaker from [here](https://workspace.circuitmaker.com/Account/SignUp).
+
+### Starting a New Project 
+Start a new project and make sure to use the naming convention when making the title, you can't change it later -_-. We use `MR1718 Name`. For example, the motor node would be `MR1718 Motor`. To make things uniform there are generated project images you can download from [here](https://drive.google.com/drive/folders/1vX37lvlG4ao4wY86Rg7hQaVi0l3jGEsV?usp=sharing), so add that on the main project page as well.
+Next download the sheets you will need for your project, at the bare minimum you need:
+
+* mcu
+* reverse protection
+* rs485_tranceiver
+* rs485_termination
+* 5v_power
+* 3v3_power
+
+Now in CircuitMaker go to `Home -> Project -> Add Existing Document` and browse to where you downloaded those sheets, select them and you are done!
+
+If you ever need to find the actual sheet file that CircuitMaker uses it keeps them in this directory:
+
+`C:\ProgramData\Altium\CircuitMaker {A bunch of garbage here}\Projects\Another string of garbage\More garbage`
+
+There may be multiple directories of `Garbage strings`, so just click around until you find it.
+
+#### Using an OSURC template
+
+Download the sheet template files from this repo and add them to `C:\Users\Public\Documents\Altium\CM\Templates`, then restart CircuitMaker.
+
+Apply the template to any open schematic by going to `Project-> Templates -> General Templates -> "A*_OSURC"`
+
+If you haven't used the template in a project before, you will need to set the project parameters. You can access these by going to `Project -> Project Options -> Parameters`.
+
+Edit the parameters so they look something like this:
+
+![Parameters](http://nickmccomb.net/wp-content/uploads/2017/12/parameters.png "Parameters for Iris Project")
+
+You'll also want to edit the `Title` parameter in the `Document Parameters` (found in `Project -> Document Options -> Parameters`) to reflect the title of your schematic document.
+
+### Conventions
+
+#### Project Names
+`MR1718 Name`
+
+#### Sheet Names
+`lowercase_with_underscores`
+
+#### Sheet Symbols
+`UPPERCASE-DASHES`
+
+#### Sheet Formatting
+See [this](https://github.com/OSURoboticsClub/Rover_2017_2018/blob/master/electrical/schematics/schematic-example.pdf).
+
+#### Power Net Naming
+`voltage_descriptor` 
+
+Where `descriptor` is either `RAW` or `SYS`. `voltage` is represented as shown in the example below.
+
+`RAW` specifies any voltage that is not ready for system use, such as non-reverse-protected or non-current sensed portions of the circuit.
+
+`SYS` is any voltage that is ready to be used by the system.
+
+For example:
+
+![power_net_naming](http://nickmccomb.net/wp-content/uploads/2017/12/power_net_naming_iris.png "Power Net Naming for the Iris Project")

environment_reference/UDEV Rules/99-rover-cameras.rules

@@ -12,4 +12,4 @@ KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{
 KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="082d", ATTRS{serial}=="A98AA5FF", SYMLINK+="rover/camera_gimbal"
 
 # The special main nav cam
-KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", SYMLINK+="rover/camera_main_navigation"
+KERNEL=="video[0-9]*", SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9422", ATTRS{serial}=="SN0001", ATTR{index}=="0", SYMLINK+="rover/camera_main_navigation"

environment_reference/UDEV Rules/99-rover-usb-serial.rules

@@ -2,6 +2,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
 
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyDEV1"
 
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyDEV2"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyCompass"
 
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyDEV3"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="FTU9EU0I", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyGPS"

environment_reference/ZED Settings/SN2129.conf

@@ -0,0 +1,86 @@
+[LEFT_CAM_2K]
+cx = 1103.74
+cy = 663.956
+fx = 1389.02
+fy = 1389.02
+k1 = -0.175403
+k2 = 0.0278335
+
+
+[LEFT_CAM_FHD]
+cx = 959.74
+cy = 582.956
+fx = 1389.02
+fy = 1389.02
+k1 = -0.175403
+k2 = 0.0278335
+
+
+[LEFT_CAM_HD]
+cx = 638.37
+cy = 379.978
+fx = 694.512
+fy = 694.512
+k1 = -0.175403
+k2 = 0.0278335
+
+
+[LEFT_CAM_VGA]
+cx = 334.185
+cy = 196.989
+fx = 347.256
+fy = 347.256
+k1 = -0.175403
+k2 = 0.0278335
+
+
+[RIGHT_CAM_2K]
+cx = 1152.59
+cy = 667.942
+fx = 1393.95
+fy = 1393.95
+k1 = -0.175501
+k2 = 0.0279378
+
+
+[RIGHT_CAM_FHD]
+cx = 1008.59
+cy = 586.942
+fx = 1393.95
+fy = 1393.95
+k1 = -0.175501
+k2 = 0.0279378
+
+
+[RIGHT_CAM_HD]
+cx = 662.797
+cy = 381.971
+fx = 696.977
+fy = 696.977
+k1 = -0.175501
+k2 = 0.0279378
+
+
+[RIGHT_CAM_VGA]
+cx = 346.399
+cy = 197.985
+fx = 348.489
+fy = 348.489
+k1 = -0.175501
+k2 = 0.0279378
+
+
+[STEREO]
+BaseLine = 120.098
+CV_2K = 4.66838e-06
+CV_FHD = 4.66838e-06
+CV_HD = 4.66838e-06
+CV_VGA = 4.66838e-06
+RX_2K = 0.000518746
+RX_FHD = 0.000518746
+RX_HD = 0.000518746
+RX_VGA = 0.000518746
+RZ_2K = -0.00147751
+RZ_FHD = -0.00147751
+RZ_HD = -0.00147751
+RZ_VGA = -0.00147751

firmware/Readme.md

@@ -1,3 +0,0 @@
-# Rover Firmware
-This is for any code on board micro-controllers on board the Rover.
-This includes firmware for the arm, and any interface / breakout boards.

rover/rover_camera/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8)
 project(rover_camera)
 
+add_compile_options(-std=c++11)
+
 find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
 
 # add the resized image message

rover/rover_camera/launch/example.launch

@@ -1,22 +1,23 @@
 <launch>
   <group ns="cameras">
-    <node name="camera_name" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" output="screen">
-      <param name="device_path" value="/dev/video0"/>
+    <node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" output="screen">
+      <param name="device_path" value="/dev/rover/camera_undercarriage"/>
     </node>
 
-    <!--
     <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" output="screen" >
       <param name="device_path" value="/dev/rover/camera_main_navigation" />
     </node>
 
+
     <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
       <param name="device_path" value="/dev/rover/camera_gimbal" />
     </node>
-  -->
+
 
   </group>
-
+  <!--
   <node name="image_view" pkg="image_view" type="image_view" launch-prefix="taskset -c 4" output="screen">
     <remap from="image" to="/cameras/camera_name/image_720p"/>
   </node>
+  -->
 </launch>

rover/rover_camera/src/rover_camera.cpp

@@ -1,4 +1,4 @@
-#include <string.h>
+#include <string>
 #include <iostream>
 
 #include <ros/ros.h>
@@ -41,11 +41,14 @@ int main(int argc, char** argv)
         return -1;
     }
 
+    std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
+    std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
+
     image_transport::ImageTransport full_res_image_transport(node_handle);
     image_transport::ImageTransport lower_res_image_transport(node_handle);
 
-    image_transport::Publisher full_size_publisher = full_res_image_transport.advertise("image_720p", 1);
-    image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise("image_360p", 1);
+    image_transport::Publisher full_size_publisher = full_res_image_transport.advertise(large_image_node_name, 1);
+    image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise(small_image_node_name, 1);
 
     cv::Mat image;
     cv::Mat image_smaller;
@@ -53,7 +56,7 @@ int main(int argc, char** argv)
     ros::Rate loop_rate(fps + 5);
 
 
-    while (node_handle.ok()) {
+    while (ros::ok()) {
 
         cap.read(image);
 
@@ -70,4 +73,6 @@ int main(int argc, char** argv)
         ros::spinOnce();
         loop_rate.sleep();
     }
+
+    cap.release();
 }

rover/rover_main/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(rover)
+project(rover_main)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)

rover/rover_main/launch/rover_main.launch

@@ -1,19 +1,52 @@
 <launch>
+<!-- ########## Start Hardware Interface Nodes ########## -->
+<!-- ### Start Drive Interfaces ### -->
+<!-- Start Left Bogie Interface -->
+<!-- Start Right Bogie Interface -->
+<!-- Start Rear Bogie Interface -->
+
+<!-- ### Start Arm Interfaces ### -->
+<!-- Start Arm Base Interface -->
+<!-- Start Arm End Effector Interface -->
+
+<!-- ### Start Miscellaneous Interfaces ### -->
+<!-- Start Sample Containment Interface -->
+<!-- Start Tower Interface -->
+<!-- Start Chassis Pan/Tilt Interface -->
+<!-- Start Iris Interface -->
+
+<!-- ########## Start All Rover Camera Nodes ########## -->
+<!-- ### Start 2D Cameras ### -->
 <group ns="cameras">
-		<node name="undercarriage" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+<!-- Start Undercarriage Camera -->
+    <node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
         <param name="device_path" value="/dev/rover/camera_undercarriage"/>
     </node>
 
-
-	<node name="main_navigation" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+<!-- Start Main Navigation Camera -->
+    <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >
         <param name="device_path" value="/dev/rover/camera_main_navigation" />
     </node>
 
-	<node name="gimbal" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+<!-- Start Gimbal Camera -->
+    <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
         <param name="device_path" value="/dev/rover/camera_gimbal" />
     </node>
 
+
+<!-- ### Start 3D Cameras ### -->
+<!-- Start ZED Camera -->
+    <group ns="zed">
+        <include file="$(find zed_wrapper)/launch/zed_camera.launch">
+            <!-- compliant mode for rviz -->
+            <arg name="odometry_frame"        value="map" />
+        </include>
     </group>
+</group>
+
+<!-- ########## Start System Status Monitoring Nodes ########## -->
+<!-- Start System CPU / RAM / Filesystem Monitor -->
+<!-- Start System Temperature Monitor -->
 
 
 </launch>

rover/rover_main/launch/rover_nav.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node name="navsat" pkg="nmea_navsat_driver" type="nmea_serial_driver" respawn="true">
+        <param name="port" value="/dev/rover/ttyGPS"/>
+        <param name="baud" value="9600"/>
+    </node>
+</launch>

rover/rover_main/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>rover</name>
+  <name>rover_main</name>
   <version>0.0.0</version>
   <description>The rover package</description>
 

rover/uvc_capture/CMakeLists.txt

@@ -1,198 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(uvc_capture)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES uvc_capture
-#  CATKIN_DEPENDS roscpp rospy
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/uvc_capture.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/uvc_capture_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_uvc_capture.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

rover/uvc_capture/launch/uvc.launch

@@ -1,25 +0,0 @@
-<launch>
-	<group ns="cam1">
-		<node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
-			<param name="video_device" value="/dev/rover/cam_grasper" />
-			<param name="image_width" value="1280" />
-			<param name="image_height" value="720" />
-			<param name="pixel_format" value="mjpeg" />
-			<param name="camera_frame_id" value="usb_cam1" />
-			<param name="io_method" value="mmap"/>
-		</node>
-
-	</group>
-
-	<group ns="cam2">
-		<node name="usb_cam2" pkg="usb_cam" type="usb_cam_node" output="screen" >
-			<param name="video_device" value="/dev/rover/cam_undercarriage" />
-			<param name="image_width" value="1280" />
-			<param name="image_height" value="720" />
-			<param name="pixel_format" value="mjpeg" />
-			<param name="camera_frame_id" value="usb_cam2" />
-			<param name="io_method" value="mmap"/>
-		</node>
-
-	</group>
-</launch>

rover/uvc_capture/launch/uvc_one_cam.launch

@@ -1,13 +0,0 @@
-<launch>
-	<group ns="cam1">
-		<node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
-			<param name="video_device" value="/dev/rover/cam_undercarriage" />
-			<param name="image_width" value="1280" />
-			<param name="image_height" value="720" />
-			<param name="pixel_format" value="mjpeg" />
-			<param name="camera_frame_id" value="usb_cam" />
-			<param name="io_method" value="mmap"/>
-		</node>
-
-	</group>
-</launch>

rover/uvc_capture/package.xml

@@ -1,65 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>uvc_capture</name>
-  <version>0.0.0</version>
-  <description>The uvc_capture package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="caperren@todo.todo">caperren</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/uvc_capture</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>

rover/zed_wrapper/launch/zed.launch

@@ -23,7 +23,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <group ns="zed">
         <include file="$(find zed_wrapper)/launch/zed_camera.launch">
             <!-- compliant mode for rviz -->
-            <arg name="odometry_frame"        value="$(arg odometry_frame)" />
+            <arg name="odometry_frame"        value="map" />
         </include>
     </group>