diff --git a/aip_x2_description/config/front_unit_calibration.yaml b/aip_x2_description/config/front_unit_calibration.yaml
index e4831d3f..0c21e2d5 100644
--- a/aip_x2_description/config/front_unit_calibration.yaml
+++ b/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]
diff --git a/aip_x2_description/config/rear_unit_calibration.yaml b/aip_x2_description/config/rear_unit_calibration.yaml
index 739518d8..ed4c5c4b 100644
--- a/aip_x2_description/config/rear_unit_calibration.yaml
+++ b/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]
diff --git a/aip_x2_description/config/sensors_calibration.yaml b/aip_x2_description/config/sensors_calibration.yaml
index c41dc25f..bb0f7591 100644
--- a/aip_x2_description/config/sensors_calibration.yaml
+++ b/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
diff --git a/aip_x2_description/config/top_unit_calibration.yaml b/aip_x2_description/config/top_unit_calibration.yaml
index e0ac30e2..562db0c1 100644
--- a/aip_x2_description/config/top_unit_calibration.yaml
+++ b/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
diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml
index 3c3c342a..408a6f2c 100644
--- a/aip_x2_launch/launch/gnss.launch.xml
+++ b/aip_x2_launch/launch/gnss.launch.xml
@@ -26,7 +26,7 @@
-
+