add new folders

Signed-off-by: Yuxuan Liu <[email protected]>

aip_xx1_gen2_launch/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  data
+  config
+)

aip_xx1_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml

@@ -0,0 +1,109 @@
+/**:
+  ros__parameters:
+    sensing:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: sensing
+      analyzers:
+        node_alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: node_alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
+
+        lidar:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: lidar
+          analyzers:
+            velodyne:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: velodyne
+              analyzers:
+                health_monitoring:
+                  type: diagnostic_aggregator/AnalyzerGroup
+                  path: health_monitoring
+                  analyzers:
+                    connection:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: connection
+                      contains: [": velodyne_connection"]
+                      timeout: 3.0
+
+                    temperature:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: temperature
+                      contains: [": velodyne_temperature"]
+                      timeout: 3.0
+
+                    rpm:
+                      type: diagnostic_aggregator/GenericAnalyzer
+                      path: rpm
+                      contains: [": velodyne_rpm"]
+                      timeout: 3.0
+
+        gnss:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: gnss
+          analyzers:
+            health_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: health_monitoring
+              analyzers:
+                connection:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: connection
+                  contains: [": gnss_connection"]
+                  timeout: 3.0
+
+                data:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: data
+                  contains: [": gnss_data"]
+                  timeout: 3.0
+
+                antenna:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: antenna
+                  contains: [": gnss_antenna"]
+                  timeout: 3.0
+
+                tx_usage:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: tx_usage
+                  contains: [": gnss_tx_usage"]
+                  timeout: 3.0
+
+                spoofing:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: spoofing
+                  contains: [": gnss_spoofing"]
+                  timeout: 3.0
+
+                jamming:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: jamming
+                  contains: [": gnss_jamming"]
+                  timeout: 3.0
+
+                fix_topic_status:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: fix_topic_status
+                  contains: [": fix topic status"]
+                  timeout: 3.0
+
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_validator"]
+                  timeout: 1.0

aip_xx1_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

@@ -0,0 +1,30 @@
+# 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_connection: default
+      gnss_data: default
+      gnss_antenna: default
+      gnss_tx_usage: default
+      gnss_spoofing: default
+      gnss_jamming: default
+      fix topic status: default
+
+      # velodyne
+      velodyne_connection: default
+      velodyne_temperature: default
+      velodyne_rpm: default
+
+      # imu
+      gyro_bias_estimator: default

aip_xx1_gen2_launch/config/radar_simple_object_merger.param.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate_hz: 20.0
+    new_frame_id: "base_link"
+    timeout_threshold: 1.0
+    input_topics: ["/sensing/radar/front_center/detected_objects", "/sensing/radar/front_left/detected_objects", "/sensing/radar/rear_left/detected_objects", "/sensing/radar/rear_center/detected_objects", "/sensing/radar/rear_right/detected_objects", "/sensing/radar/front_right/detected_objects"]

aip_xx1_gen2_launch/data/traffic_light_camera.yaml

@@ -0,0 +1,20 @@
+image_width: 1920
+image_height: 1080
+camera_name: traffic_light/camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [2410.755261, 0.000000, 922.621401, 0.000000, 2403.573140, 534.752500, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [2370.254883, 0.000000, 920.136018, 0.000000, 0.000000, 2388.885254, 535.599668, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

aip_xx1_gen2_launch/launch/camera.launch.xml

@@ -0,0 +1,19 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="camera_type" default="left" />
+
+  <group>
+    <push-ros-namespace namespace="camera"/>
+    <group>
+      <push-ros-namespace namespace="traffic_light"/>
+
+      <!-- (usb_cam_node is assumed to have launched on logging PC) -->
+      <node pkg="topic_tools" exec="relay" name="tl_camera_info_relay" output="log"
+	    args="$(var camera_type)/camera_info camera_info"/>
+
+      <node pkg="topic_tools" exec="relay" name="tl_compressed_image_relay" output="log"
+	    args="$(var camera_type)/image_raw/compressed image_raw/compressed"/>
+    </group>
+  </group>
+</launch>

aip_xx1_gen2_launch/launch/gnss.launch.xml

@@ -0,0 +1,41 @@
+<launch>
+
+  <arg name="launch_driver" default="true" />
+  <arg name="gnss_receiver" default="ublox" description="ublox(default) or septentrio"/>
+
+  <group>
+    <push-ros-namespace namespace="gnss"/>
+
+    <!-- Switch topic name -->
+    <let name="navsatfix_topic_name" value="ublox/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navpvt_topic_name" value="ublox/navpvt" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
+    <let name="navsatfix_topic_name" value="septentrio/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+    <let name="navpvt_topic_name" value="septentrio/navpvt/unused" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
+
+    <!-- Ublox Driver -->
+    <group if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)">
+      <node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
+        <remap from="~/fix" to="~/nav_sat_fix" />
+        <param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
+      </node>
+    </group>
+
+    <!-- Septentrio GNSS Driver -->
+    <group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
+      <include file="$(find-pkg-share septentrio_gnss_driver)/launch/mosaic_x5_rover.launch.xml" />
+    </group>
+
+    <!-- NavSatFix to MGRS Pose -->
+    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+      <arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
+      <arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
+
+      <arg name="output_topic_gnss_pose" value="pose" />
+      <arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
+      <arg name="output_topic_gnss_fixed" value="fixed" />
+
+      <arg name="use_ublox_receiver" value="true" />
+    </include>
+
+  </group>
+</launch>

aip_xx1_gen2_launch/launch/imu.launch.xml

@@ -0,0 +1,39 @@
+<launch>
+
+  <group>
+    <push-ros-namespace namespace="imu"/>
+
+    <arg name="launch_driver" default="true" />
+    <arg name="interface" default="canImu"/>
+    <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
+    <group>
+      <push-ros-namespace namespace="tamagawa"/>
+      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
+        <arg name="interface" value="$(var interface)"/>
+        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
+        <remap from="/can/imu" to="from_can_bus"/>
+        <remap from="imu/data_raw" to="imu_raw"/>
+        <param name="imu_frame_id" value="tamagawa/imu_link"/>
+      </node>
+    </group>
+
+    <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
+    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+      <arg name="input_topic" value="$(var imu_raw_name)"/>
+      <arg name="output_topic" value="imu_data"/>
+      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
+      <arg name="input_odom" value="/localization/kinematic_state"/>
+      <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+  </group>
+
+</launch>

aip_xx1_gen2_launch/launch/lidar.launch.xml

@@ -0,0 +1,106 @@
+<launch>
+
+  <arg name="launch_driver" default="true"/>
+  <arg name="host_ip" default="192.168.1.10"/>
+  <arg name="use_concat_filter" default="true"/>
+  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)"/>
+  <arg name="vehicle_mirror_param_file"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
+  <group>
+    <push-ros-namespace namespace="lidar"/>
+
+    <group>
+      <push-ros-namespace namespace="top"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_OT128.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_top"/>
+        <arg name="sensor_ip" value="192.168.1.201"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2368"/>
+        <arg name="scan_phase" value="160.0"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_front_left"/>
+        <arg name="sensor_ip" value="192.168.1.21"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2369"/>
+        <arg name="scan_phase" value="50.0"/>
+        <arg name="cloud_min_angle" value="50"/>
+        <arg name="cloud_max_angle" value="320"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="front_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="300.0"/>
+        <arg name="sensor_frame" value="hesai_front_right"/>
+        <arg name="sensor_ip" value="192.168.1.22"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2370"/>
+        <arg name="scan_phase" value="310.0"/>
+        <arg name="cloud_min_angle" value="40"/>
+        <arg name="cloud_max_angle" value="310"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="side_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="10.0"/>
+        <arg name="sensor_frame" value="hesai_side_left"/>
+        <arg name="sensor_ip" value="192.168.1.23"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2371"/>
+        <arg name="scan_phase" value="90.0"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <group>
+      <push-ros-namespace namespace="side_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="10.0"/>
+        <arg name="sensor_frame" value="hesai_side_right"/>
+        <arg name="sensor_ip" value="192.168.1.24"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2372"/>
+        <arg name="scan_phase" value="270.0"/>
+        <arg name="cloud_min_angle" value="90"/>
+        <arg name="cloud_max_angle" value="270"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
+      </include>
+    </group>
+
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
+      <arg name="base_frame" value="base_link"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+
+  </group>
+</launch>