Add default config of aip_x1 (tier4#141)

Signed-off-by: Kenji Miyake <[email protected]>
tkimura4 · Dec 10, 2020 · 4a62fc7 · 4a62fc7
1 parent 0c98a01
commit 4a62fc7
Show file tree

Hide file tree

Showing 2 changed files with 35 additions and 0 deletions.
diff --git a/vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml b/vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml
@@ -0,0 +1,28 @@
+sensor_kit_base_link2velodyne_top_base_link:
+  x: 0.000
+  y: 0.000
+  z: 0.000
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000
+sensor_kit_base_link2livox_front_left_base_link:
+  x: 1.054
+  y: 0.260
+  z: -1.330
+  roll: 0.000
+  pitch: 0.000
+  yaw: 1.047
+sensor_kit_base_link2livox_front_center_base_link:
+  x:  1.054
+  y: 0.000
+  z: -1.330
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000
+sensor_kit_base_link2livox_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/vehicle_launch/config/default/aip_x1/sensors_calibration.yaml b/vehicle_launch/config/default/aip_x1/sensors_calibration.yaml
@@ -0,0 +1,7 @@
+base_link2sensor_kit_base_link:
+  x: 0.555
+  y: 0.000
+  z: 1.810
+  roll: 0.000
+  pitch: 0.000
+  yaw: 0.000