Merge pull request start-jsk#355 from k-kimura/update_hrp2007_multise…

…nse_calib_file [jsk_hrp2_ros_bridge/calib_data] Update hrp2007 multisense calibration file
itohdak · Apr 14, 2016 · 15ec774 · 15ec774
2 parents ab09cc6 + cb66914
commit 15ec774
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diff --git a/jsk_hrp2_ros_bridge/calib_data/hrp2007_multisense_calib_20160120.yaml b/jsk_hrp2_ros_bridge/calib_data/hrp2007_multisense_calib_20160120.yaml
@@ -0,0 +1,12 @@
+hrp2_to_multisense:
+#  rpy: [0.0436058425298, 0.210092661685, 0.0]
+#  xyz: [0.0827412894557, 0.00438982923146, 0.08]
+
+#  rpy: [-0.015, 0.185, 0.03]
+#  xyz: [0.0627412894557, 0.005, 0.1]
+
+#  rpy: [0.01, 0.183, 0.03]
+#  xyz: [0.0627412894557, 0.005, 0.12]
+
+  rpy: [0.005, 0.174, 0.02]
+  xyz: [0.06, -0.01, 0.092]
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2007.launch b/jsk_hrp2_ros_bridge/launch/hrp2007.launch
@@ -1,6 +1,6 @@
 <launch>
   <!-- common file -->
-  <arg name="CALIB_FILE" default="hrp2007_multisense_calib_20150617.yaml" />
+  <arg name="CALIB_FILE" default="hrp2007_multisense_calib_20160120.yaml" />
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_controller_config.yaml" />
   <!-- common file -->