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SITL: fix Morse simulator camera and changed default mission to indoor

This commit is contained in:
Tom Pittenger 2019-06-28 22:57:43 -07:00 committed by Tom Pittenger
parent c73a4fd227
commit 3f99def25a
2 changed files with 10 additions and 2 deletions
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6
libraries/SITL/examples/Morse/indoor_misison.waypoints Normal file
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@ -0,0 +1,6 @@
QGC WPL 110
0 1 0 16 0 0 0 0 -35.363261 149.165230 584.099976 1
1 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36338840 149.16519640 0.000000 1
2 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36328010 149.16527290 0.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36319320 149.16520510 0.000000 1
4 0 3 177 1.00000000 -1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1

6
libraries/SITL/examples/Morse/rover_scanner.py
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@ -24,13 +24,15 @@ from morse.builder import *
vehicle = ATRV()
vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
vehicle.translate(x=0.0, z=0.0)
vehicle.rotate(z=math.pi)
# add a camera
camera = SemanticCamera(name="Camera")
camera.translate(x=0.2, y=0.3, z=0.9)
vehicle.append(camera)
camera.properties(cam_far=800)
camera.properties(Vertical_Flip=True)
camera.properties(Vertical_Flip=False)
camera.rotate(z=math.pi)
# we could optionally stream the video to a port
#camera.add_stream('socket')
@ -83,7 +85,7 @@ motion.add_stream('socket')
#vehicle.append(keyboard)
# Environment
env = Environment('land-1/trees', fastmode=False)
env = Environment('indoors-1/boxes', fastmode=False)
env.set_camera_location([10.0, -10.0, 10.0])
env.set_camera_rotation([1.0470, 0, 0.7854])
env.select_display_camera(camera)