2024.4.1 (#344)

* Fix for focal length
usnistgov · May 8, 2024 · a4927c5 · a4927c5
1 parent 557afa8
commit a4927c5
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Showing 9 changed files with 10 additions and 10 deletions.
diff --git a/ariac_controllers/package.xml b/ariac_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_controllers</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>ros2 controllers for ARIAC simulation</description>
   <maintainer email="[email protected]"> Justin Albrecht</maintainer>
   <license>NIST</license>

diff --git a/ariac_description/package.xml b/ariac_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_description</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Package containing URDF descriptions for all robots in the ARIAC simulation</description>
   <maintainer email="[email protected]">justin</maintainer>
   <license>NIST</license>

diff --git a/ariac_gazebo/package.xml b/ariac_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gazebo</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>ARIAC ROS2 port</description>
   <maintainer email="[email protected]">justin</maintainer>
   <license>NIST</license>

diff --git a/ariac_gui/package.xml b/ariac_gui/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gui</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>GUI for creating trial configurations</description>
   <maintainer email="[email protected]">Joseph Fernandez</maintainer>
   <license>NIST</license>

diff --git a/ariac_moveit_config/package.xml b/ariac_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_moveit_config</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description> An package with MoveIt2 configurations for ARIAC robots</description>
   <maintainer email="[email protected]">Justin Albrecht</maintainer>
   <license>NIST</license>

diff --git a/ariac_msgs/package.xml b/ariac_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_msgs</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Interface definitions for ARIAC</description>
   <maintainer email="[email protected]">justin</maintainer>
   <license>NIST</license>

diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_plugins</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Gazebo/ROS2 plugins for the ARAIC competition</description>
   <maintainer email="[email protected]">justin albrecht</maintainer>
   <maintainer email="[email protected]">zeid kootbally</maintainer>

diff --git a/ariac_sensors/package.xml b/ariac_sensors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_sensors</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Gazebo plugins for the ARIAC sensors</description>
   <maintainer email="[email protected]">justin</maintainer>
   <license>NIST</license>

diff --git a/ariac_sensors/src/ariac_camera_plugin.cpp b/ariac_sensors/src/ariac_camera_plugin.cpp
@@ -302,7 +302,7 @@ void AriacCameraPluginPrivate::FillCameraInfoMsg(){
 
   double cx = (static_cast<double>(width_) + 1.0) / 2.0;
   double cy = (static_cast<double>(height_) + 1.0) / 2.0;
-  double focal_length;
+  double focal_length = 0.0;
 
   bool border_crop = true;
   auto hack_baseline = 0.0;
@@ -315,7 +315,7 @@ void AriacCameraPluginPrivate::FillCameraInfoMsg(){
   double distortion_t2{0.0};
 
   if (camera_type_ == "rgb") {
-    double focal_length =
+    focal_length =
       (static_cast<double>(width_)) / (2.0 * tan(camera_->HFOV().Radian() / 2.0));
 
     if (camera_->LensDistortion()) {