diff --git a/README.md b/README.md index 8ace416c..0c945d43 100644 --- 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 new file mode 100644 index 00000000..56f4d802 --- /dev/null +++ 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 new file mode 100644 index 00000000..252bd1e9 --- /dev/null +++ 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 new file mode 100644 index 00000000..796672f1 --- /dev/null +++ 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 new file mode 100644 index 00000000..327796c0 --- /dev/null +++ b/aip_x1_description/package.xml @@ -0,0 +1,18 @@ + + + aip_x1_description + 0.1.0 + The aip_xx1_description package + + Yukihiro Saito + Apache 2 + + ament_cmake_auto + + livox_description + velodyne_description + + + ament_cmake + + diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro new file mode 100644 index 00000000..3d9e8fd1 --- /dev/null +++ b/aip_x1_description/urdf/sensor_kit.xacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_description/urdf/sensors.xacro b/aip_x1_description/urdf/sensors.xacro new file mode 100644 index 00000000..56f048b4 --- /dev/null +++ b/aip_x1_description/urdf/sensors.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/aip_x2_description/CMakeLists.txt b/aip_x2_description/CMakeLists.txt new file mode 100644 index 00000000..ce9c7282 --- /dev/null +++ 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 new file mode 100644 index 00000000..e4831d3f --- /dev/null +++ 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 new file mode 100644 index 00000000..739518d8 --- /dev/null +++ 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 new file mode 100644 index 00000000..c41dc25f --- /dev/null +++ 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 new file mode 100644 index 00000000..e0ac30e2 --- /dev/null +++ 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 new file mode 100644 index 00000000..ac6d8645 --- /dev/null +++ b/aip_x2_description/package.xml @@ -0,0 +1,17 @@ + + + aip_x2_description + 0.1.0 + The aip_x2_description package + + Shinnosuke Hirakawa + Apache 2 + + ament_cmake_auto + + pandar_description + + + ament_cmake + + diff --git a/aip_x2_description/urdf/front_unit.xacro b/aip_x2_description/urdf/front_unit.xacro new file mode 100644 index 00000000..370b0349 --- /dev/null +++ b/aip_x2_description/urdf/front_unit.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x2_description/urdf/rear_unit.xacro b/aip_x2_description/urdf/rear_unit.xacro new file mode 100644 index 00000000..17f587b0 --- /dev/null +++ b/aip_x2_description/urdf/rear_unit.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x2_description/urdf/sensors.xacro b/aip_x2_description/urdf/sensors.xacro new file mode 100644 index 00000000..cb1d5b7c --- /dev/null +++ b/aip_x2_description/urdf/sensors.xacro @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + diff --git a/aip_x2_description/urdf/top_unit.xacro b/aip_x2_description/urdf/top_unit.xacro new file mode 100644 index 00000000..2453ff23 --- /dev/null +++ b/aip_x2_description/urdf/top_unit.xacro @@ -0,0 +1,223 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_xx1_description/CMakeLists.txt b/aip_xx1_description/CMakeLists.txt new file mode 100644 index 00000000..50723262 --- /dev/null +++ b/aip_xx1_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(aip_xx1_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_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml new file mode 100644 index 00000000..e1742856 --- /dev/null +++ b/aip_xx1_description/config/sensor_kit_calibration.yaml @@ -0,0 +1,92 @@ +sensor_kit_base_link: + camera0/camera_link: + x: 0.10731 + y: 0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.315 + yaw: 1.035 + camera1/camera_link: + x: -0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.025 + pitch: 0.32 + yaw: -2.12 + camera2/camera_link: + x: 0.10731 + y: -0.56343 + z: -0.27697 + roll: -0.00 + pitch: 0.335 + yaw: -1.04 + camera3/camera_link: + x: -0.10731 + y: 0.56343 + z: -0.27697 + roll: 0.0 + pitch: 0.325 + yaw: 2.0943951 + camera4/camera_link: + x: 0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.03 + yaw: -0.005 + camera5/camera_link: + x: -0.07356 + y: 0.0 + z: -0.0525 + roll: 0.0 + pitch: -0.01 + yaw: 3.125 + traffic_light_right_camera/camera_link: + x: 0.05 + y: -0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + traffic_light_left_camera/camera_link: + x: 0.05 + y: 0.0175 + z: -0.1 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + velodyne_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 1.575 + velodyne_left_base_link: + x: 0.0 + y: 0.56362 + z: -0.30555 + roll: -0.02 + pitch: 0.71 + yaw: 1.575 + velodyne_right_base_link: + x: 0.0 + y: -0.56362 + z: -0.30555 + roll: -0.01 + pitch: 0.71 + yaw: -1.580 + gnss_link: + x: -0.1 + y: 0.0 + z: -0.2 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + tamagawa/imu_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml new file mode 100644 index 00000000..473f302d --- /dev/null +++ b/aip_xx1_description/config/sensors_calibration.yaml @@ -0,0 +1,29 @@ +base_link: + sensor_kit_base_link: + x: 0.9 + y: 0.0 + z: 2.0 + roll: -0.001 + pitch: 0.015 + yaw: -0.0364 + livox_front_right_base_link: + x: 3.290 + y: -0.65485 + z: 0.3216 + roll: 0.0 + pitch: 0.0 + yaw: -0.872664444 + livox_front_left_base_link: + x: 3.290 + y: 0.65485 + z: 0.3016 + roll: -0.021 + pitch: 0.05 + yaw: 0.872664444 + velodyne_rear_base_link: + x: -0.358 + y: 0.0 + z: 1.631 + roll: -0.02 + pitch: 0.7281317 + yaw: 3.141592 diff --git a/aip_xx1_description/package.xml b/aip_xx1_description/package.xml new file mode 100644 index 00000000..b35b48e0 --- /dev/null +++ b/aip_xx1_description/package.xml @@ -0,0 +1,17 @@ + + + aip_xx1_description + 0.1.0 + The aip_xx1_description package + + Yukihiro Saito + Apache 2 + + ament_cmake_auto + + velodyne_description + + + ament_cmake + + diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro new file mode 100644 index 00000000..d132c7b3 --- /dev/null +++ b/aip_xx1_description/urdf/sensor_kit.xacro @@ -0,0 +1,228 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro new file mode 100644 index 00000000..2468c1c0 --- /dev/null +++ b/aip_xx1_description/urdf/sensors.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + diff --git a/build_depends.repos b/build_depends.repos index ec3feccc..64f32f12 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -3,3 +3,7 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_common.git version: main + description/sensor/sensor_description: + type: git + url: https://github.com/tier4/sensor_description.iv.git + version: main