From aae71cd3ee7aa69ccec89f866d17354a3e937c19 Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Fri, 17 Nov 2023 17:06:59 +0300 Subject: [PATCH] fix prettier warnings Signed-off-by: ismetatabay --- .../calibration-tools/index.md | 2 +- .../lidar-imu-calibration/index.md | 33 ++++++++++--------- 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md index 142f7b3e12d..572210fbea8 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/calibration-tools/index.md @@ -82,4 +82,4 @@ completed launch files when created following tutorial sections can be found [he - [Ground Plane-Lidar Calibration](../ground-lidar-calibration) - [Intrinsic Camera Calibration](../intrinsic-camera-calibration) - [Lidar-Camera Calibration](../lidar-camera-calibration) -- - [Lidar-Imu Calibration](../lidar-imu-calibration) +- [Lidar-Imu Calibration](../lidar-imu-calibration) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md index 4ce7ec6e8c5..926dcc3c357 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.md @@ -17,7 +17,7 @@ are calibrated comprehensively without explicit hand-crafted targets. This calibration tool is developed with ROS1, and it is not compatible with ROS2. So, we are providing a docker image which has ROS1 and all necessary packages. - In the calibration instructions, we will ask you to install docker on your + In the calibration instructions, we will ask you to install docker on your system. ??? note "ROS 2 Bag example of our calibration process for tutorial_vehicle" @@ -72,8 +72,8 @@ Create a yaml file with name `out.yaml` which contains your lidar and imu topics ```yaml output_bags: -- uri: splitted_bag - topics: [/your/imu/topic, /your/pointcloud/topic] + - uri: splitted_bag + topics: [/your/imu/topic, /your/pointcloud/topic] ``` Split your ROS2 bag file: @@ -184,7 +184,6 @@ sensors: if you have a rosbag file in the `OA-LICalib/data` directory, you need to give the path as `/root/calib_ws/src/OA-LICalib/data/rosbag2_2023_08_18-14_42_12_0.bag` - ```yaml topic_lidar: /sensing/lidar/top/pointcloud_raw topic_imu: /sensing/gnss/sbg/ros/imu/data @@ -192,7 +191,11 @@ topic_imu: /sensing/gnss/sbg/ros/imu/data LidarModel: VLP_16_SIMU selected_segment: - - {start_time: 0, end_time: 40, path_bag: /root/calib_ws/src/OA-LICalib/data/rosbag2_2023_08_18-14_42_12_0.bag} + - { + start_time: 0, + end_time: 40, + path_bag: /root/calib_ws/src/OA-LICalib/data/rosbag2_2023_08_18-14_42_12_0.bag, + } ``` After creating the container and changing parameters, @@ -248,13 +251,13 @@ in the `OA-LICalib/config/simu.yaml` file. To achieve better results, you can tune the parameters in the `config/simu.yaml` file. The parameters are explained below: -| Parameter | Value | -|-------------------------------------|-----------------------------------------------------------| -| ndtResolution | Resolution of NDT grid structure (VoxelGridCovariance)
0,5 for indoor case and 1.0 for outdoor case | -| ndt_key_frame_downsample | Resolutation parameter for voxel grid downsample function | -| map_downsample_size | Resolutation parameter for voxel grid downsample function | -| knot_distance | time interval | -| plane_motion | set true if you collect data from vehicle | -| gyro_weight | gyrometer sensor output’s weight for trajectory estimation | -| accel_weight | accelerometer sensor output’s weight for trajectory estimation | -| lidar_weight | lidar sensor output’s weight for trajectory estimation | \ No newline at end of file +| Parameter | Value | +| ------------------------ | ------------------------------------------------------------------------------------------------------- | +| ndtResolution | Resolution of NDT grid structure (VoxelGridCovariance)
0,5 for indoor case and 1.0 for outdoor case | +| ndt_key_frame_downsample | Resolutation parameter for voxel grid downsample function | +| map_downsample_size | Resolutation parameter for voxel grid downsample function | +| knot_distance | time interval | +| plane_motion | set true if you collect data from vehicle | +| gyro_weight | gyrometer sensor output’s weight for trajectory estimation | +| accel_weight | accelerometer sensor output’s weight for trajectory estimation | +| lidar_weight | lidar sensor output’s weight for trajectory estimation |