diff --git a/public/configs/deploy/config.json b/public/configs/deploy/config.json new file mode 100644 index 0000000000000000000000000000000000000000..2f542e7ae402434b83cffba759613ce83c023ee4 --- /dev/null +++ b/public/configs/deploy/config.json @@ -0,0 +1,26 @@ +{ + "robots": [ + "./robots/uib_drone.json" + ], + "ship": { + "rosbridge": { + "uri": "ws://bugwright.vr.rwth-aachen.de:80" + }, + "static_mesh": { + "uri": "meshes/Porto_230616_122018.gltf", + "tf_frame": "mesh_ref", + "transform": { + "rotation": [ + -90, + 0, + 180 + ] + } + } + }, + "transformTree": { + "rosbridge": { + "uri": "ws://bugwright.vr.rwth-aachen.de:80" + } + } +} \ No newline at end of file diff --git a/public/configs/deploy/robots/uib_drone.json b/public/configs/deploy/robots/uib_drone.json new file mode 100644 index 0000000000000000000000000000000000000000..7599ca146f22d6e062c4e7b7cd81b4b5d11bc788 --- /dev/null +++ b/public/configs/deploy/robots/uib_drone.json @@ -0,0 +1,42 @@ +{ + "rosbridge": { + "uri": "ws://bugwright.vr.rwth-aachen.de:80" + }, + "type": "UAV", + "name": "UIB Drone", + "topics": { + "pose": "/mesh_pf1/pose", + "images": [ + { + "topic": "/mussol/camera/image_raw/compressed", + "name": "Camera" + } + ] + }, + "mesh": { + "uri": "meshes/drone/drone_body.gltf", + "transform": { + "translation": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ], + "scale": [ + 0.01, + 0.01, + 0.01 + ] + } + }, + "services": { + "prepareMission": "foo", + "executeMission": "foo" + }, + "missionFrame": "world", + "poseFrame": "/mussol/imu_dji" +} \ No newline at end of file