Merge pull request #11 from ctu-mrs/dev

Merge landing and LidarFov from dev
ctu-mrs · Feb 12, 2025 · 2aec83f · 2aec83f
2 parents b14245c + 3feb5de
commit 2aec83f
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Showing 4 changed files with 13 additions and 4 deletions.
diff --git a/.gitman.yaml b/.gitman.yaml
@@ -15,7 +15,7 @@ sources:
 sources_locked:
   - repo: https://github.com/ctu-mrs/mrs_flight_forge_connector.git
     name: mrs_flight_forge_connertor
-    rev: 8af29bd8928463eb6d9c23352b826e1a011a40f8
+    rev: e87ab3cb3aab53a1b2982d308b4db6d54a3c2a2d
     type: git
     params:
     sparse_paths:

diff --git a/config/unreal_simulator.yaml b/config/unreal_simulator.yaml
@@ -65,8 +65,11 @@ sensors:
 
     rate: 10.0 # [Hz]
 
-    horizontal_fov: 360.0 # [deg]
-    vertical_fov: 90.0 # [deg]
+    horizontal_fov_left: 180.0 # [deg]
+    horizontal_fov_right: 180.0 # [deg]
+
+    vertical_fov_up: 52.0 # [deg]
+    vertical_fov_down: 7.0 # [deg]
 
     horizontal_rays: 128 # [-]
     vertical_rays: 64 # [-]

diff --git a/src/unreal_simulator.cpp b/src/unreal_simulator.cpp
@@ -1904,9 +1904,11 @@ void UnrealSimulator::updateUnrealPoses(const bool teleport_without_collision) {
 ueds_connector::Coordinates UnrealSimulator::position2ue(const Eigen::Vector3d &pos, const ueds_connector::Coordinates &ueds_world_origin){
   ueds_connector::Coordinates pos_ue;
 
+  float PlayerStartOffset = 92.12;
+
   pos_ue.x = ueds_world_origin.x + pos.x() * 100.0;
   pos_ue.y = ueds_world_origin.y - pos.y() * 100.0;
-  pos_ue.z = ueds_world_origin.z + pos.z() * 100.0;
+  pos_ue.z = ueds_world_origin.z + pos.z() * 100.0 - PlayerStartOffset;
 
   return pos_ue;
 }

diff --git a/tmux/one_drone/config/simulator.yaml b/tmux/one_drone/config/simulator.yaml
@@ -25,6 +25,7 @@ uav1:
 sensors:
   lidar:
     enabled: true
+
     horizontal_rays: 128 # [-]
     vertical_rays: 64 # [-]
     lidar_intensity:
@@ -46,6 +47,9 @@ sensors:
         std_slope: 0.81 # [-] # multiplies std_at_1m for each meter of measured distances
 
   rgb:
+    rgb_segmented:
+      enabled: false 
+      rate: 10.0 # [Hz]
     enabled: true
   stereo:
     enabled: false