fix(aip_x2): frame_id (tier4#141)

* fix: GNSS frame_id

* chore: update calibration files

aip_x2_description/config/front_unit_calibration.yaml

@@ -1,22 +1,43 @@
 front_unit_base_link:
-  camera6/camera_link:
-    x: -0.337224
-    y: -0.234415
-    z: 0.102745
-    roll: 0.004805
-    pitch: 0.012465
-    yaw: 0.018125
   pandar_40p_front_base_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
-    yaw: 1.57079
+    yaw: 1.570796
   pandar_qt_front_base_link:
-    x: 0.018
+    x: 0.019
+    y: 0.0
+    z: 0.136
+    roll: 0.0
+    pitch: 0.0
+    yaw: 2.09439
+  camera6/camera_link:
+    x: 0.0534
+    y: 0.0
+    z: 0.2657
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  front_center/radar_link:
+    x: -0.01295
     y: 0.0
-    z: 0.130
+    z: -0.07554
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  front_left/radar_link:
+    x: -0.132
+    y: 1.0 # todo
+    z: 0.0174
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.2217 # 70[deg]
+  front_right/radar_link:
+    x: -0.132
+    y: -1.0 # todo
+    z: 0.0174
     roll: 0.0
     pitch: 0.0
-    yaw: 1.57079
+    yaw: -1.2217 # 70[deg]

aip_x2_description/config/rear_unit_calibration.yaml

@@ -5,18 +5,39 @@ rear_unit_base_link:
     z: 0.0
     roll: 0.0
     pitch: 0.0
-    yaw: 1.57079
+    yaw: 1.570796
   pandar_qt_rear_base_link:
-    x: 0.018
+    x: 0.0189
     y: 0.0
-    z: 0.130
+    z: 0.135
     roll: 0.0
     pitch: 0.0
-    yaw: 1.57079
+    yaw: 1.91986
   camera3/camera_link:
-    x: -0.004
-    y: -0.087
-    z: 0.110
-    roll: 3.141592
+    x: 0.002
+    y: 0.125
+    z: 0.17965
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  rear_center/radar_link:
+    x: 0.0
+    y: 0.0
+    z: -0.09819
+    roll: 0.0
     pitch: 0.0
     yaw: 0.0
+  rear_left/radar_link:
+    x: -0.01295
+    y: -1.11225 # todo
+    z: 0.092
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.2217 # 70[deg]
+  rear_right/radar_link:
+    x: -0.01295
+    y: 1.11225 # todo
+    z: 0.092
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.2217 # 70[deg]

aip_x2_description/config/sensors_calibration.yaml

@@ -1,22 +1,29 @@
 base_link:
   top_unit_base_link:
-    x: 2.870
-    y: 0.0
-    z: 2.135
+    x: 4.6621
+    y: 1.079
+    z: 2.8087
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
   front_unit_base_link:
-    x: 4.029
+    x: 5.6221
     y: 0.0
-    z: 0.75
+    z: 0.7547
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
   rear_unit_base_link:
-    x: -1.031
+    x: -1.4271
+    y: 0.0
+    z: 0.4795
+    roll: 0
+    pitch: 0
+    yaw: -3.141500
+  gnss_link:
+    x: -0.3
     y: 0.0
-    z: 0.750
+    z: 2.689
     roll: 0.0
     pitch: 0.0
-    yaw: 3.1415
+    yaw: 0.0

aip_x2_description/config/top_unit_calibration.yaml

@@ -1,92 +1,78 @@
 top_unit_base_link:
-  traffic_light_camera/camera_link:
-    x: 0.003
-    y: 0.063
-    z: 0.015
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
   camera0/camera_link:
-    x: 0.0235
-    y: 0.0
-    z: 0.0345
+    x: 0.76673
+    y: -1.186
+    z: 0.05965
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
   camera1/camera_link:
-    x: 0.09841
-    y: -0.78172
-    z: -0.03618
+    x: 0.16818
+    y: -2.10372
+    z: -0.0651
     roll: 0.0
-    pitch: 0.22165
-    yaw: -1.047197
+    pitch: 0.22689 # 13[deg]
+    yaw: -1.134464 # 65[deg]
   camera2/camera_link:
-    x: -0.09841
-    y: -0.78172
-    z: -0.03618
+    x: -0.19012
+    y: -2.09141
+    z: -0.0651
     roll: 0.0
-    pitch: 0.22165
-    yaw: -2.094395
+    pitch: 0.22689 # 13[deg]
+    yaw: -2.39110 # 137[deg]
   camera4/camera_link:
-    x: -0.09841
-    y: 0.78172
-    z: -0.03618
+    x: -0.19012
+    y: -0.06258
+    z: -0.0651
     roll: 0.0
-    pitch: 0.22165
-    yaw: 2.094395
+    pitch: 0.22689 # 13[deg]
+    yaw: 2.39110 # 137[deg]
   camera5/camera_link:
-    x: 0.09841
-    y: 0.78172
-    z: -0.03618
+    x: 0.16818
+    y: -0.05027
+    z: -0.0651
+    roll: 0.000000
+    pitch: 0.22689 # 13[deg]
+    yaw: 1.134464 # 65[deg]
+  camera7/camera_link:
+    x: 0.76673
+    y: -0.964
+    z: 0.05965
     roll: 0.0
-    pitch: 0.22165
-    yaw: 1.047197
+    pitch: 0.0
+    yaw: 0.0
   pandar_40p_left_base_link:
     x: 0.0
-    y: 0.77827
-    z: 0.002
+    y: 0.0
+    z: 0.0
     roll: 0.0
     pitch: 0.0
-    yaw: 3.1415
+    yaw: 3.141592
   pandar_qt_left_base_link:
     x: 0.0
-    y: 0.7238
-    z: -0.1156
-    roll: 0.6614798
+    y: -0.04
+    z: -0.17
+    roll: 0.6981 # 40[deg]
     pitch: 0.0
-    yaw: 3.1415
+    yaw: -3.141592
   pandar_40p_right_base_link:
-    x: 0.0
-    y: -0.77827
-    z: 0.002
+    x: 0.000000
+    y: -2.154
+    z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
   pandar_qt_right_base_link:
     x: 0.0
-    y: -0.7238
-    z: -0.1156
-    roll: 0.6614798
-    pitch: 0.0
-    yaw: 0.0
-  gnss_left_link:
-    x: -0.355
-    y: 0.374
-    z: 0.0065
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  gnss_right_link:
-    x: -0.015
-    y: -0.31
-    z: 0.0065
-    roll: 0.0
+    y: -2.114
+    z: -0.17
+    roll: 0.6981 # 40[deg]
     pitch: 0.0
     yaw: 0.0
   tamagawa/imu_link:
-    x: -0.0195
-    y: -0.09185
-    z: 0.0165
-    roll: 3.14159265359
+    x: 0.5675
+    y: 0.0
+    z: -0.0651
+    roll: 3.141592
     pitch: 0.0
     yaw: 0.0

aip_x2_launch/launch/gnss.launch.xml

@@ -26,7 +26,7 @@
       <arg name="coordinate_system" value="$(var coordinate_system)" />
       <arg name="use_ublox_receiver" value="true" />
 
-      <arg name="gnss_frame" value="gnss_right_link" />
+      <arg name="gnss_frame" value="gnss_link" />
     </include>
 
   </group>