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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(aip_xx1_gen2_description) | ||
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| find_package(ament_cmake_auto REQUIRED) | ||
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| ament_auto_find_build_dependencies() | ||
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| ament_auto_package(INSTALL_TO_SHARE | ||
| urdf | ||
| config | ||
| ) |
113 changes: 113 additions & 0 deletions
113
aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| sensor_kit_base_link: | ||
| camera0/camera_link: | ||
| x: 0.372 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: -0.207 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| camera1/camera_link: | ||
| x: 0.372 # Design Value | ||
| y: 0.045 # Design Value | ||
| z: -0.207 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| camera2/camera_link: | ||
| x: 0.372 # Design Value | ||
| y: -0.045 # Design Value | ||
| z: -0.207 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| camera3/camera_link: | ||
| x: 0.133 # Design Value | ||
| y: 0.498 # Design Value | ||
| z: -0.246 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.872665 # Design Value | ||
| camera4/camera_link: | ||
| x: 0.133 # Design Value | ||
| y: -0.498 # Design Value | ||
| z: -0.246 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -0.872665 # Design Value | ||
| camera5/camera_link: | ||
| x: 0.095 # Design Value | ||
| y: 0.524 # Design Value | ||
| z: -0.246 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 1.0472 # Design Value | ||
| camera6/camera_link: | ||
| x: 0.095 # Design Value | ||
| y: -0.524 # Design Value | ||
| z: -0.246 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -1.0472 # Design Value | ||
| camera7/camera_link: | ||
| x: -0.345 # Design Value | ||
| y: 0.244 # Design Value | ||
| z: -0.174 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 2.70526 # Design Value | ||
| camera8/camera_link: | ||
| x: -0.345 # Design Value | ||
| y: -0.244 # Design Value | ||
| z: -0.174 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -2.70526 # Design Value | ||
| camera9/camera_link: | ||
| x: -0.362 # Design Value | ||
| y: 0.202 # Design Value | ||
| z: -0.174 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 2.79253 # Design Value | ||
| camera10/camera_link: | ||
| x: -0.362 # Design Value | ||
| y: -0.202 # Design Value | ||
| z: -0.174 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -2.79253 # Design Value | ||
| hesai_top_base_link: | ||
| x: 0.0 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: 0.0 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 4.36332298038 # Design Value | ||
| hesai_left_base_link: | ||
| x: 0.0 # Design Value | ||
| y: 0.564 # Design Value | ||
| z: -0.300 # Design Value | ||
| roll: 0.872665 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 3.14159265359 # Design Value | ||
| hesai_right_base_link: | ||
| x: 0.0 # Design Value | ||
| y: -0.564 # Design Value | ||
| z: -0.300 # Design Value | ||
| roll: 0.69813132679 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| gnss_link: | ||
| x: -0.279 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: -0.160 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| tamagawa/imu_link: | ||
| x: -0.129 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: -0.160 # Design Value | ||
| roll: 3.14159265359 | ||
| pitch: 0.0 # Design Value | ||
| yaw: 3.14159265359 # Design Value |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| base_link: | ||
| sensor_kit_base_link: | ||
| x: 0.9 | ||
| y: 0.0 | ||
| z: 2.0 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
| hesai_front_left_base_link: | ||
| x: 3.373 # Design Value | ||
| y: 0.740 # Design Value | ||
| z: 0.5482 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 2.44346132679 # Design Value | ||
| hesai_front_right_base_link: | ||
| x: 3.373 # Design Value | ||
| y: -0.740 # Design Value | ||
| z: 0.5482 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.69813132679 # Design Value | ||
| # velodyne_rear_base_link: #unused | ||
| # x: -0.358 | ||
| # y: 0.0 | ||
| # z: 1.631 | ||
| # roll: -0.02 | ||
| # pitch: 0.7281317 | ||
| # yaw: 3.141592 | ||
| front_center/radar_link: | ||
| x: 3.520 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: 0.6352 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| front_right/radar_link: | ||
| x: 3.384 # Design Value | ||
| y: -0.7775 # Design Value | ||
| z: 0.410 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -1.22173 # Design Value | ||
| front_left/radar_link: | ||
| x: 3.384 # Design Value | ||
| y: 0.7775 # Design Value | ||
| z: 0.410 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 1.22173 # Design Value | ||
| rear_center/radar_link: | ||
| x: -0.858 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: 0.520 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 3.141592 # Design Value | ||
| rear_right/radar_link: | ||
| x: -0.782 # Design Value | ||
| y: -0.761 # Design Value | ||
| z: 0.520 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: -2.0944 # Design Value | ||
| rear_left/radar_link: | ||
| x: -0.782 # Design Value | ||
| y: 0.761 # Design Value | ||
| z: 0.520 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 2.0944 # Design Value |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>aip_xx1_gen2_description</name> | ||
| <version>0.1.0</version> | ||
| <description>The aip_xx1_gen2_description package</description> | ||
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| <maintainer email="[email protected]">Yukihiro Saito</maintainer> | ||
| <license>Apache 2</license> | ||
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| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
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| <depend>velodyne_description</depend> | ||
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> |
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