chore: remove unused file and fix bug

Signed-off-by: 1222-takeshi <[email protected]>
tier4 · May 7, 2024 · 013d335 · 013d335
1 parent d3a12db
commit 013d335
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Showing 13 changed files with 43 additions and 1,363 deletions.
diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro
@@ -18,7 +18,7 @@
     </link>
 
     <!-- sensor -->
-    <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
     <xacro:VLP-16
       parent="sensor_kit_base_link"

diff --git a/aip_x1_description/urdf/sensors.xacro b/aip_x1_description/urdf/sensors.xacro
@@ -3,7 +3,7 @@
 
   <xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
   <xacro:include filename="$(find aip_x1_description)/urdf/sensor_kit.xacro"/>
-  <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
 
   <!-- sensor kit -->
   <xacro:sensor_kit_macro

diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -42,9 +42,9 @@
                       path: rpm
                       contains: [": velodyne_rpm"]
                       timeout: 3.0
-            front:
+            pandar:
               type: diagnostic_aggregator/AnalyzerGroup
-              path: front
+              path: pandar
               analyzers:
                 health_monitoring:
                   type: diagnostic_aggregator/AnalyzerGroup

diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -0,0 +1,33 @@
+# Description:
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # gnss
+      gnss: default
+
+      # pandar
+      pandar_connection: default
+      pandar_temperature: default
+      pandar_ptp: default
+
+      # velodyne
+      velodyne_connection: default
+      velodyne_temperature: default
+      velodyne_rpm: default
+
+      concat_status: default
+
+      sensing_topic_status: default
+
+      # imu
+      gyro_bias_estimator: default
diff --git a/aip_x1_launch/config/ground_segmentation/elevation_map_parameters.yaml b/aip_x1_launch/config/ground_segmentation/elevation_map_parameters.yaml
diff --git a/aip_x1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_launch/config/ground_segmentation/ground_segmentation.param.yaml
diff --git a/aip_x1_launch/config/gyro_bias_estimator.param.yaml b/aip_x1_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:	
+  ros__parameters:	
+    gyro_bias_threshold: 0.008 # [rad/s]	
+    timer_callback_interval_sec: 0.5 # [sec]	
+    diagnostics_updater_interval_sec: 0.5 # [sec]	
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]