feat: add descriptions for aip_*** (tier4#87)

* release v0.4.0 * Add vls description (tier4#3) Signed-off-by: Daisuke Nishimatsu <[email protected]> * remove ROS1 packages Signed-off-by: mitsudome-r <[email protected]> * Revert "remove ROS1 packages" This reverts commit 8251d78982f7366d1fe70edf84b9a6a74dfc4324. * add colcon_ignore Signed-off-by: Takamasa Horibe <[email protected]> * port to ROS2 Signed-off-by: Takamasa Horibe <[email protected]> * add xacro namespace for VLP-16/128 tags Signed-off-by: Takamasa Horibe <[email protected]> * Ros2 v0.8.0 update (tier4#7) * fix aip_x1 sensor_kit.xacro bug * fix config_dir (tier4#11) * [ROS2] add aip x2 (tier4#10) * add aip x2 * fix xacro & calibration * fix suffix to name (tier4#2) * Add pre-commit (tier4#5) * Add pre-commit Signed-off-by: Kenji Miyake <[email protected]> * Fix for pre-commit Signed-off-by: Kenji Miyake <[email protected]> * Fix build_depends.repos Signed-off-by: Kenji Miyake <[email protected]> * Modify sensor config (tier4#4) * Update x1 sensor config files Signed-off-by: wep21 <[email protected]> * Update xx1 sensor config files Signed-off-by: wep21 <[email protected]> * Update x2 sensor config files Signed-off-by: wep21 <[email protected]> * Run pre-commit Signed-off-by: wep21 <[email protected]> * Add prettier-xacro to pre-commit (tier4#6) Signed-off-by: Kenji Miyake <[email protected]> * Run pre-commit Signed-off-by: wep21 <[email protected]> * Update README.md Signed-off-by: wep21 <[email protected]> * Fix for pre-commit Signed-off-by: Kenji Miyake <[email protected]> * Cosmetic change Signed-off-by: wep21 <[email protected]> * Add _link Signed-off-by: wep21 <[email protected]> * Fix missing link Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * fix name (tier4#8) * Fix tlr camera link name for xx1 (tier4#9) Signed-off-by: wep21 <[email protected]> * added camera 6 (tier4#11) * Moved camera6 from top to front kit (tier4#12) * Moved camera6 from top to front kit * Added the camera6 to the front kit in the x2 yaml file * ci(pre-commit): autofix * feat: update README and build_depends * ci(pre-commit): autofix * fix: delete duplicates Signed-off-by: Daisuke Nishimatsu <[email protected]> Signed-off-by: mitsudome-r <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: wep21 <[email protected]> Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: taichiH <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: knzo25 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
mitsudome-r · Nov 24, 2022 · f6eb122 · f6eb122
1 parent 54fb9a7
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diff --git a/README.md b/README.md
@@ -4,11 +4,9 @@
 
 ```bash
 .
-├── aip_x1_launch # AI.Pilot X1 package
-│   └── ... # some directories and files
-├── aip_x2_launch
+├── aip_***_launch # AI.Pilot *** package
 │   └── ...
-├── aip_xx1_launch
+├── aip_***_description # AI.Pilot *** package
 │   └── ...
 ├── ... # other AI.Pilot packages...
 └── common_sensor_launch # common sensor driver package
@@ -149,3 +147,22 @@ This is the package that contains some sensor driver launch files for reasons su
     │   └── ...
     └── package.xml
 ```
+
+## Description for aip\_\*\*\*\_description
+
+### Settings
+
+- Add each transformation between a base frame and a sensor into calibration yaml as below.
+
+```yaml
+# sample_sensor_calibration.yaml
+# parent -> child
+parent_name
+  child_name
+    x:
+    y:
+    z:
+    roll:
+    pitch:
+    yaw:
+```
diff --git a/aip_x1_description/CMakeLists.txt b/aip_x1_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_x1_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_x1_description/config/sensor_kit_calibration.yaml b/aip_x1_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,29 @@
+sensor_kit_base_link:
+  velodyne_top_base_link:
+    x: 0.000
+    y: 0.000
+    z: 0.000
+    roll: 0.000
+    pitch: 0.000
+    yaw: 0.000
+  livox_front_left_base_link:
+    x: 1.054
+    y: 0.260
+    z: -1.330
+    roll: 0.000
+    pitch: 0.000
+    yaw: 1.047
+  livox_front_center_base_link:
+    x: 1.054
+    y: 0.000
+    z: -1.330
+    roll: 0.000
+    pitch: 0.000
+    yaw: 0.000
+  livox_front_right_base_link:
+    x: 1.054
+    y: -0.260
+    z: -1.330
+    roll: 0.000
+    pitch: 0.000
+    yaw: -1.047
diff --git a/aip_x1_description/config/sensors_calibration.yaml b/aip_x1_description/config/sensors_calibration.yaml
@@ -0,0 +1,8 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.555
+    y: 0.000
+    z: 1.810
+    roll: 0.000
+    pitch: 0.000
+    yaw: 0.000
diff --git a/aip_x1_description/package.xml b/aip_x1_description/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_x1_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_description package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>livox_description</depend>
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
+    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+
+    <xacro:arg name="gpu" default="false"/>
+    <xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
+    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
+
+    <joint name="${sensor_kit_base_link}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_kit_base_link}"/>
+    </joint>
+    <link name="${sensor_kit_base_link}">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </link>
+
+    <!-- sensor -->
+    <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <!-- lidar -->
+    <xacro:VLP-16
+      parent="sensor_kit_base_link"
+      name="velodyne_top"
+      topic="/points_raw"
+      hz="10"
+      samples="220"
+      gpu="$(arg gpu)"
+    >
+      <origin
+        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
+            ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
+      />
+    </xacro:VLP-16>
+    <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
+    <xacro:livox_horizon_macro
+      name="livox_front_left"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['yaw']}"
+    />
+    <xacro:livox_horizon_macro
+      name="livox_front_center"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['yaw']}"
+    />
+    <xacro:livox_horizon_macro
+      name="livox_front_right"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['yaw']}"
+    />
+  </xacro:macro>
+</robot>
diff --git a/aip_x1_description/urdf/sensors.xacro b/aip_x1_description/urdf/sensors.xacro
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
+  <xacro:include filename="$(find aip_x1_description)/urdf/sensor_kit.xacro"/>
+  <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+
+  <!-- sensor kit -->
+  <xacro:sensor_kit_macro
+    parent="base_link"
+    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
+    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
+    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
+    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
+    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
+    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
+  />
+
+  <!-- embedded sensors -->
+
+</robot>
diff --git a/aip_x2_description/CMakeLists.txt b/aip_x2_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_x2_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)
diff --git a/aip_x2_description/config/front_unit_calibration.yaml b/aip_x2_description/config/front_unit_calibration.yaml
@@ -0,0 +1,22 @@
+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
+  pandar_qt_front_base_link:
+    x: 0.018
+    y: 0.0
+    z: 0.130
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.57079
diff --git a/aip_x2_description/config/rear_unit_calibration.yaml b/aip_x2_description/config/rear_unit_calibration.yaml
@@ -0,0 +1,22 @@
+rear_unit_base_link:
+  pandar_40p_rear_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.57079
+  pandar_qt_rear_base_link:
+    x: 0.018
+    y: 0.0
+    z: 0.130
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.57079
+  camera3/camera_link:
+    x: -0.004
+    y: -0.087
+    z: 0.110
+    roll: 3.141592
+    pitch: 0.0
+    yaw: 0.0
diff --git a/aip_x2_description/config/sensors_calibration.yaml b/aip_x2_description/config/sensors_calibration.yaml
@@ -0,0 +1,22 @@
+base_link:
+  top_unit_base_link:
+    x: 2.870
+    y: 0.0
+    z: 2.135
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  front_unit_base_link:
+    x: 4.029
+    y: 0.0
+    z: 0.75
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  rear_unit_base_link:
+    x: -1.031
+    y: 0.0
+    z: 0.750
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.1415
diff --git a/aip_x2_description/config/top_unit_calibration.yaml b/aip_x2_description/config/top_unit_calibration.yaml
@@ -0,0 +1,92 @@
+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
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  camera1/camera_link:
+    x: 0.09841
+    y: -0.78172
+    z: -0.03618
+    roll: 0.0
+    pitch: 0.22165
+    yaw: -1.047197
+  camera2/camera_link:
+    x: -0.09841
+    y: -0.78172
+    z: -0.03618
+    roll: 0.0
+    pitch: 0.22165
+    yaw: -2.094395
+  camera4/camera_link:
+    x: -0.09841
+    y: 0.78172
+    z: -0.03618
+    roll: 0.0
+    pitch: 0.22165
+    yaw: 2.094395
+  camera5/camera_link:
+    x: 0.09841
+    y: 0.78172
+    z: -0.03618
+    roll: 0.0
+    pitch: 0.22165
+    yaw: 1.047197
+  pandar_40p_left_base_link:
+    x: 0.0
+    y: 0.77827
+    z: 0.002
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.1415
+  pandar_qt_left_base_link:
+    x: 0.0
+    y: 0.7238
+    z: -0.1156
+    roll: 0.6614798
+    pitch: 0.0
+    yaw: 3.1415
+  pandar_40p_right_base_link:
+    x: 0.0
+    y: -0.77827
+    z: 0.002
+    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
+    pitch: 0.0
+    yaw: 0.0
+  tamagawa/imu_link:
+    x: -0.0195
+    y: -0.09185
+    z: 0.0165
+    roll: 3.14159265359
+    pitch: 0.0
+    yaw: 0.0
diff --git a/aip_x2_description/package.xml b/aip_x2_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_x2_description</name>
+  <version>0.1.0</version>
+  <description>The aip_x2_description package</description>
+
+  <maintainer email="[email protected]">Shinnosuke Hirakawa</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>pandar_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>