update explicit type support and force rebuild at every colcon build

Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>

aip_xx1_description/CMakeLists.txt

@@ -1,7 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(aip_xx1_description)
 
-
 find_package(ament_cmake_auto REQUIRED)
 
 ament_auto_find_build_dependencies()
@@ -13,22 +12,20 @@ set(PYTHON_TEMPLATE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/templates")
 set(PYTHON_CALIBRATION_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/config")
 set(PYTHON_XACRO_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/urdf")
 
-# Run the Python script
-execute_process(
+# Create a custom command to run the Python script
+
+add_custom_target(xacro_compilation ALL
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/python_script_run_flag # this target will ask for `python_script_run_flag`
+)
+
+add_custom_command(
+    # this command will claim to create `python_script_run_flag`, but will not actually do so; only running the script
+    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/python_script_run_flag
     COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_SCRIPT} ${PYTHON_TEMPLATE_DIRECTORY} ${PYTHON_CALIBRATION_DIRECTORY} ${PYTHON_XACRO_DIRECTORY} ${PROJECT_NAME}
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-    RESULT_VARIABLE result
-    OUTPUT_VARIABLE output
-    ERROR_VARIABLE error
+    DEPENDS ${PYTHON_SCRIPT} # Add dependencies here
+    COMMENT "Running Python script for URDF creation"
 )
-# message(WARNING "Python script output: ${output}")
-
-if(NOT result EQUAL 0)
-    message(FATAL_ERROR "Python script failed with error: ${error}")
-else()
-    message(WARNING "Xacro Compiling Success")
-endif()
-
 
 ament_auto_package(INSTALL_TO_SHARE
     urdf

aip_xx1_description/config/sensor_kit_calibration.yaml

@@ -6,87 +6,100 @@ sensor_kit_base_link:
     roll: -0.025
     pitch: 0.315
     yaw: 1.035
+    type: monocular_camera
   camera1/camera_link:
     x: -0.10731
     y: -0.56343
     z: -0.27697
     roll: -0.025
     pitch: 0.32
     yaw: -2.12
+    type: monocular_camera
   camera2/camera_link:
     x: 0.10731
     y: -0.56343
     z: -0.27697
     roll: -0.00
     pitch: 0.335
     yaw: -1.04
+    type: monocular_camera
   camera3/camera_link:
     x: -0.10731
     y: 0.56343
     z: -0.27697
     roll: 0.0
     pitch: 0.325
     yaw: 2.0943951
+    type: monocular_camera
   camera4/camera_link:
     x: 0.07356
     y: 0.0
     z: -0.0525
     roll: 0.0
     pitch: -0.03
     yaw: -0.005
+    type: monocular_camera
   camera5/camera_link:
     x: -0.07356
     y: 0.0
     z: -0.0525
     roll: 0.0
     pitch: -0.01
     yaw: 3.125
+    type: monocular_camera
   camera6/camera_link:
     x: 0.05
     y: 0.0175
     z: -0.1
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
+    type: monocular_camera
   camera7/camera_link:
     x: 0.05
     y: -0.0175
     z: -0.1
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
+    type: monocular_camera
   velodyne_top_base_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 1.575
+    type: VLS-128.urdf
   velodyne_left_base_link:
     x: 0.0
     y: 0.56362
     z: -0.30555
     roll: -0.02
     pitch: 0.71
     yaw: 1.575
+    type: VLP-16.urdf
   velodyne_right_base_link:
     x: 0.0
     y: -0.56362
     z: -0.30555
     roll: -0.01
     pitch: 0.71
     yaw: -1.580
+    type: VLP-16.urdf
   gnss_link:
     x: -0.1
     y: 0.0
     z: -0.2
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
+    type: imu
   tamagawa/imu_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 3.14159265359
     pitch: 0.0
     yaw: 3.14159265359
+    type: imu

aip_xx1_description/config/sensors_calibration.yaml

@@ -6,31 +6,36 @@ base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
+    type: radar
   sensor_kit_base_link:
     x: 0.9
     y: 0.0
     z: 2.0
     roll: -0.001
     pitch: 0.015
     yaw: -0.0364
+    type: units
   livox_front_right_base_link:
     x: 3.290
     y: -0.65485
     z: 0.3216
     roll: 0.0
     pitch: 0.0
     yaw: -0.872664444
+    type: livox_horizon
   livox_front_left_base_link:
     x: 3.290
     y: 0.65485
     z: 0.3016
     roll: -0.021
     pitch: 0.05
     yaw: 0.872664444
+    type: livox_horizon
   velodyne_rear_base_link:
     x: -0.358
     y: 0.0
     z: 1.631
     roll: -0.02
     pitch: 0.7281317
     yaw: 3.141592
+    type: VLP-16.urdf

aip_xx1_description/scripts/compile_xacro.py

@@ -27,6 +27,7 @@ def __init__(self, transformation: Dict, base_frame: str, child_frame: str):
             self.yaw = transformation["yaw"]
             self.base_frame = base_frame
             self.child_frame = child_frame
+            self.type: str = transformation.get("type", "")
 
             self.name = self.child_frame.replace("_base_link", "").replace("_link", "")
 
@@ -93,6 +94,19 @@ class LinkType(enum.Enum):
     JOINT_UNITS = "units"
 
 
+def obtain_link_type(link: Transformation) -> LinkType:
+    if len(link.type) > 0:
+        # use explicit type string to obtain link
+        link_type_lower = link.type.lower()
+
+        # Check each enum value for a match
+        for type_enum in LinkType:
+            if link_type_lower == type_enum.value.lower():
+                return type_enum
+    # if there is no match, or the type is not defined:
+    return determine_link_type(link.child_frame)
+
+
 def determine_link_type(link_name: str) -> LinkType:
     if "cam" in link_name:
         return LinkType.CAMERA
@@ -276,9 +290,7 @@ def main(
 
     render_meta_data = {}
     render_meta_data["default_config_path"] = f"$(find {project_name})/config"
-    render_meta_data[
-        "sensor_calibration_yaml_path"
-    ] = f"$(find {project_name})/config/sensors_calibration.yaml"
+    render_meta_data["sensor_calibration_yaml_path"] = "$(arg config_dir)/sensors_calibration.yaml"
     render_meta_data["sensor_units_includes"] = []
     render_meta_data["sensor_units"] = []
     render_meta_data["isolated_sensors_includes"] = []
@@ -287,7 +299,7 @@ def main(
     include_text = set()
     sensor_items = []
     for _, transform in calib.transforms.items():
-        link_type: LinkType = determine_link_type(transform.child_frame)
+        link_type: LinkType = obtain_link_type(transform)
         if link_type == LinkType.JOINT_UNITS:
             render_meta_data["sensor_units_includes"].append(
                 link_dicts[link_type]["including_file"].format(filename=transform.name)
@@ -330,12 +342,13 @@ def main(
         sensor_unit_render_meta_data["default_config_path"] = render_meta_data[
             "default_config_path"
         ]
-
+        sensor_unit_render_meta_data["joint_unit_name"] = sensor_unit["name"]
         sensor_unit_render_meta_data["current_base_link"] = sensor_unit_calib.base_frame
         sensor_unit_isolated_sensors = []
         for _, transform in sensor_unit_calib.transforms.items():
-            link_type: LinkType = determine_link_type(transform.child_frame)
+            link_type: LinkType = obtain_link_type(transform)
             include_text.add(link_dicts[link_type]["including_file"])
+            print(transform.child_frame)
             sensor_unit_isolated_sensors.append(link_dicts[link_type]["string_api"](transform))
         sensor_unit_render_meta_data["isolated_sensors_includes"] = list(include_text)
         sensor_unit_render_meta_data["isolated_sensors"] = sensor_unit_isolated_sensors

aip_xx1_description/templates/sensor_unit.xacro.template

@@ -21,7 +21,7 @@
     </link>
 
     <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/{{ joint_unit_name }}_calibration.yaml')}"/>
 
     {% for item in isolated_sensors %}
     {{ item }}