From f583e353d66191c80ce6de86d975db888b0a4fd5 Mon Sep 17 00:00:00 2001 From: TJU-Lu Date: Wed, 6 Aug 2025 21:31:48 +0800 Subject: [PATCH] add explanation on camera config for real-flight --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index f851797..0038a9c 100644 --- a/README.md +++ b/README.md @@ -196,6 +196,8 @@ python test_yopo_ros.py --use_tensorrt=1 **4. Adapt to Your Platform** + You need to change `env: simulation` at the end of `test_yopo_ros.py` to `env: 435` (this affects the unit of the depth image), and modify the odometry to your own topic (in the NWU frame). ++ Configure your depth camera to match the training configuration (the pre-trained weights use a 16:9 resolution and a 90° FOV; for RealSense, you can set the resolution to 480×270). + + You may want to use the position controller like traditional planners in real flight to make it compatible with your controller. You should change `plan_from_reference: False` to `True` at the end of `test_yopo_ros.py`. You can test the changes in simulation using the position controller: `roslaunch so3_quadrotor_simulator simulator_position_control.launch `