feat: new documentation

README.md

@@ -15,7 +15,7 @@ After installing [autoware](https://github.com/tier4/autoware) (please see [sour
 cd autoware
 wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
 vcs import src < calibration_tools.repos
-rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+rosdep install -y --from-path `colcon list --packages-up-to sensor_calibration_tools -p` --ignore-src --rosdistro $ROS_DISTRO
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 

calibration_tools_standalone.repos

@@ -0,0 +1,49 @@
+repositories:
+  calibration_tools:
+    type: git
+    url: https://github.com/knzo25/CalibrationTools.git
+    version: feature/new_api_documentation
+  autoware/auto_msgs:
+    type: git
+    url: https://github.com/tier4/autoware_auto_msgs.git
+    version: tier4/main
+  autoware/common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: main
+  autoware/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
+  autoware/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  autoware/universe:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.universe.git
+    version: main
+  vendor/lidartag:
+    type: git
+    url: https://github.com/tier4/LiDARTag.git
+    version: humble
+  vendor/lidartag_msgs:
+    type: git
+    url: https://github.com/tier4/LiDARTag_msgs.git
+    version: tier4/universe
+  vendor/apriltag_msgs:
+    type: git
+    url: https://github.com/christianrauch/apriltag_msgs.git
+    version: 2.0.0
+  vendor/apriltag_ros:
+    type: git
+    url: https://github.com/christianrauch/apriltag_ros.git
+    version: e814e9e5d5f1bfb60a4aa685d30977c632bbc540
+  vendor/ros2_numpy:
+    type: git
+    url: https://github.com/Box-Robotics/ros2_numpy.git
+    version: humble
+  vendor/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main

docker/Dockerfile

@@ -0,0 +1,26 @@
+
+FROM osrf/ros:humble-desktop-jammy
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python3-pip \
+    wget
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+
+WORKDIR /workspace
+
+RUN mkdir -p /workspace/src
+
+RUN wget https://raw.githubusercontent.com/knzo25/CalibrationTools/feature/new_api_documentation/calibration_tools_standalone.repos --directory-prefix=/workspace
+
+RUN vcs import src < calibration_tools_standalone.repos
+
+RUN rosdep install -y --from-paths `colcon list --packages-up-to sensor_calibration_tools -p` --ignore-src
+
+RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_calibration_tools
+
+RUN rm -rf /var/lib/apt/lists/*
+
+RUN echo "source /workspace/install/setup.bash" >> /etc/bash.bashrc

sensor/README.md

@@ -1,5 +1,124 @@
 # Sensor Calibration Tools
 
+Calibration tools for sensors used in autonomous driving and robotics (camera, lidar, and radar)
+
+## Summary
+
+- Installation
+- Requirements
+- Installation alongside autoware
+- Standalone installation (for non-autoware users)
+- Docker installation
+- Available tools
+- Design
+- Integration
+- Integrate the calibration tools to your own projects
+- Integrate your own calibration tool
+
+## Installation
+
+### Requirement
+
+- Ubuntu 22.04
+- ROS2 Humble
+
+### Installation alongside Autoware
+
+After installing [autoware](https://github.com/tier4/autoware) (please see [source-installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/) page), execute the following commands:
+
+```bash
+cd autoware
+wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
+vcs import src < calibration_tools.repos
+rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+### Standalone installation (for non-autoware users)
+
+The sensor calibration tools are usually used as part of the Autoware ecosystem. However, they can also be used for projects outside Autoware, or even outside autonomous driving. Note: due to its use in autoware, even if it is possible to use the sensor calibration tools independely, due to some light dependencies, the core of autoware still needs to be downloaded, even if it is not really compiled.
+
+The following commands present an example on how to install the calibration tools and its dependencies assuming you have a ROS2 workspace called `workspace`:
+
+```bash
+# Install vcs (if needed, follow the instructions from https://github.com/dirk-thomas/vcstool)
+sudo apt-get install python3-vcstool
+
+# Download the calibration tools and its dependencies
+cd workspace
+wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools_standalone.repos
+vcs import src < calibration_tools_standalone.repos
+
+# Install all the dependencies from rosdep
+rosdep install -y --from-paths `colcon list --packages-up-to sensor_calibration_tools -p` --ignore-src
+
+# Build the sensor calibration tools
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_calibration_tools
+```
+
+### Standalone installation using Docker (for non-autoware users)
+
+With a similar motivation than the previous Section, in some cases a native build is not possible or convenient. In order to accomodate to those situations, we also offer the sensor calibration tools as a docker image:
+
+```bash
+# Build
+DOCKER_BUILDKIT=1 docker build --ssh default -t ghcr.io/tier4/calibration-tools:2.0 -f docker/Dockerfile ..
+
+# Run - Modify if needed
+docker run --gpus all --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri:/dev/dri -it ghcr.io/tier4/calibration-tools:2.0 /bin/bash
+```
+
+## Available calibration tools
+
+### Extrinsic calibration tools
+
+| Name                                | Sensors calibrated | Feature type                | Calibration type   | Demo |
+| ----------------------------------- | ------------------ | --------------------------- | ------------------ | ---- |
+| ground plane calibrator             | base-lidar         | ground                      | roll, pitch, z     | Link |
+| interactive camera-lidar calibrator | camera-lidar       | manual correspondences      | full pose          | Link |
+| lidar-lidar 2d calibrator           | lidar-lidar        | natural features            | x, y, yaw          | Link |
+| mapping calibrator (lidar-lidar)    | lidar-lidar        | natural features            | full pose          | Lik  |
+| mapping calibrator (base-lidar)     | base-lidar         | natural features and ground | roll, pitch, and z | Link |
+| marker radar-lidar calibrator       | radar-lidar        | marker                      | x, y, yaw          | Link |
+| tag-based pnp calibrator            | camera-lidar       | marker                      | full pose          | Link |
+| tag-based SfM calibrator            | camera-lidar-base  | marker                      | full pose          | Link |
+
+### Intrinsic calibration tools
+
+| Name                         | Sensors calibrated | Feature type       | Calibration type    | Demo |
+| ---------------------------- | ------------------ | ------------------ | ------------------- | ---- |
+| camera intrinsics calibrator | camera intrinsics  | calibration boards | OpenCV camera model | Link |
+
+### sensor
+
+We provide calibration tool for sensor pairs like LiDAR - LiDAR, LiDAR - Camera, etc.
+
+[README](sensor/README.md)
+
+### localization - deviation estimation tools
+
+Estimate parameters of sensors used for dead reckoning (IMU and odometry) for a better localization performance
+
+[README](localization/deviation_estimation_tools/ReadMe.md)
+
+### control - vehicle cmd analyzer
+
+Visualization and analysis tools for the control outputs from Autoware
+
+[README](control/vehicle_cmd_analyzer/README.md)
+
+### vehicle - time delay estimator
+
+Calibration tool to fix the delay of the commands to the vehicle
+
+[README](vehicle/time_delay_estimator/README.md)
+
+### system - tunable static tf broadcaster
+
+GUI to modify the parameters of generic TFs.
+
+[README](system/tunable_static_tf_broadcaster/README.md)
+
 Sensor calibration can be split into two categories: intrinsic sensor calibration and extrinsic sensor calibration. In our calibration tools, we implement different methods for both categories.
 
 ## Extrinsic Calibration