From 4a62fc7c1b0d3a54360feefdcaa5c03f12ef58e5 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Thu, 29 Oct 2020 18:35:29 +0900
Subject: [PATCH] Add default config of aip_x1 (#141)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .../aip_x1/sensor_kit_calibration.yaml        | 28 +++++++++++++++++++
 .../default/aip_x1/sensors_calibration.yaml   |  7 +++++
 2 files changed, 35 insertions(+)
 create mode 100644 vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml

diff --git a/vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml b/vehicle_launch/config/default/aip_x1/sensor_kit_calibration.yaml
new file mode 100644
index 000000000..0f3489dd6
--- /dev/null
+++ 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
index e69de29bb..462d27f04 100644
--- 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