feat(aip_xx1_description): update for xx1 gen2 (#210)

* update for xx1 gen2 Signed-off-by: Yukihiro Saito <[email protected]> * set network configs Signed-off-by: Yuki Takagi <[email protected]> * use angle param add OT128 launch Signed-off-by: Yuki Takagi <[email protected]> * set lidar horizontal FOV angle Signed-off-by: Yuki Takagi <[email protected]> * update settings Signed-off-by: Yuki Takagi <[email protected]> * update Signed-off-by: Yuki Takagi <[email protected]> * add OT128 launch Signed-off-by: Yuki Takagi <[email protected]> * add ptp param Signed-off-by: yuki.takagi@car_8 <[email protected]> * complete to write lidar settings Signed-off-by: yuki.takagi@car_8 <[email protected]> * ci(pre-commit): autofix * chore: generalized radar names Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(aip_xx1_description): update side lidar name Signed-off-by: yuki.takagi@car_8 <[email protected]> * feat(aip_xx1_launch): enable imu in adm ecus Signed-off-by: yuki.takagi@car_8 <[email protected]> * change concate lidars * update for xx1 gen2 * rotate top lidar 180 * change imu_corrector param aip_x2 -> aip_xx1 * enable gnss * fix wrong urdf model for OT128 * fix bug Signed-off-by: Yukihiro Saito <[email protected]> * change max_range * feat: added the radars to the aip launcher and description Signed-off-by: j4tfwm6z <[email protected]> * add nebula argments * fix: fixed naming and enabled the radars Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix pointcloud preprocess for multi_lidar_ogm * feat: enable radar launch and concatenation for all lidars Signed-off-by: j4tfwm6z <[email protected]> * fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32 Signed-off-by: j4tfwm6z <[email protected]> * feat: added an option to select the frame of the radar objects Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222) Signed-off-by: j4tfwm6z <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> * feat: add radar feature Signed-off-by: yoshiri <[email protected]> * fix: revert commenting out of radar.launch.xml Signed-off-by: kminoda <[email protected]> * add new folders Signed-off-by: Yuxuan Liu <[email protected]> * ci(pre-commit): autofix * add folders for description Signed-off-by: Yuxuan Liu <[email protected]> * ci(pre-commit): autofix * fix Spell-check Signed-off-by: Yuxuan Liu <[email protected]> * fix package name Signed-off-by: Yuxuan Liu <[email protected]> * fix: recover radar.xacro to make gen1 operational Signed-off-by: N-Eiki <[email protected]> * ci(pre-commit): autofix * update aip_xx1 for gen2 Signed-off-by: N-Eiki <[email protected]> * fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_* Signed-off-by: N-Eiki <[email protected]> --------- Signed-off-by: Yukihiro Saito <[email protected]> Signed-off-by: Yuki Takagi <[email protected]> Signed-off-by: yuki.takagi@car_8 <[email protected]> Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Signed-off-by: j4tfwm6z <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: kminoda <[email protected]> Signed-off-by: Yuxuan Liu <[email protected]> Signed-off-by: N-Eiki <[email protected]> Co-authored-by: Yuki Takagi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: N-Eiki <[email protected]>
tier4 · Jun 20, 2024 · d1d423d · d1d423d
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commit d1d423d
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diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,113 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera1/camera_link:
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera2/camera_link:
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera3/camera_link:
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
+  camera4/camera_link:
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  camera5/camera_link:
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
+  camera6/camera_link:
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
+  camera7/camera_link:
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 4.36332298038 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  gnss_link:
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  tamagawa/imu_link:
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -0,0 +1,71 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.44346132679 # Design Value
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.69813132679 # Design Value
+  # velodyne_rear_base_link: #unused
+  #   x: -0.358
+  #   y: 0.0
+  #   z: 1.631
+  #   roll: -0.02
+  #   pitch: 0.7281317
+  #   yaw: 3.141592
+  front_center/radar_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  front_right/radar_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  front_left/radar_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  rear_center/radar_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  rear_right/radar_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  rear_left/radar_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_xx1_gen2_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_gen2_description package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>