Config/rory extrinsic calibration (#575)

Author: ayin21

bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst

@@ -27,6 +27,10 @@ Do the calibration
 
 2. Open rqt and navigate to **Plugins** > **Configurations** > **Dynamic Reconfigure** where you can configure the parameters.
 
+3. Place the robot outside the field exactly in front of the middle line.
+
+4. Use the :code:`2D Pose Estimate` button in RViz to place the virtual robot in the corresponding pose.
+
 .. note::
   If you change the calibration first change all parameters to :code:`0.0`.
   Then start with the adjustment of the IMU parameters.

bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml

@@ -1,11 +1,11 @@
 /bitbots_extrinsic_camera_calibration:
   ros__parameters:
-    offset_x: -0.07
-    offset_y: 0.0
+    offset_x: -0.06
+    offset_y: 0.01
     offset_z: 0.0
 
 /bitbots_extrinsic_imu_calibration:
   ros__parameters:
-    offset_x: -0.0
-    offset_y: 0.01
+    offset_x: 0.0
+    offset_y: 0.017
     offset_z: 0.0