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Merge branch 'feature/xx1-gen2' into feat/multi_lidar_settings
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@YoshiRi
YoshiRi authored Mar 11, 2024
2 parents 5fcffbe + 27676f0 commit 9b940b5
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Showing 5 changed files with 146 additions and 17 deletions.
12 changes: 6 additions & 6 deletions aip_xx1_description/config/sensors_calibration.yaml
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Expand Up @@ -27,42 +27,42 @@ base_link:
# roll: -0.02
# pitch: 0.7281317
# yaw: 3.141592
ars548_front_center_base_link:
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
ars548_front_right_base_link:
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
ars548_front_left_base_link:
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
ars548_back_center_base_link:
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
ars548_back_right_base_link:
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
ars548_back_left_base_link:
rear_left/radar_link:
x: -0.782 # Design Value
y: 0.761 # Design Value
z: 0.520
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4 changes: 2 additions & 2 deletions aip_xx1_description/urdf/sensors.xacro
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Expand Up @@ -57,7 +57,7 @@
/>

<!-- embedded radar sensors -->
<!-- <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
<xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
<xacro:radar_macro
name="radar_front_center"
parent="base_link"
Expand Down Expand Up @@ -117,5 +117,5 @@
roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
/> -->
/>
</robot>
142 changes: 133 additions & 9 deletions aip_xx1_launch/launch/radar.launch.xml
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@@ -1,23 +1,147 @@
<launch>
<arg name="launch_driver" default="true" />
<arg name="input/frame" default="from_can_bus" />
<arg name="radar_can_device" default="canRadar" />
<arg name="launch_driver" default="true" description="do launch driver"/>

<let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<let name="acceleration_topic" value="/localization/acceleration"/>
<let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>

<group>
<push-ros-namespace namespace="radar"/>

<!--node pkg="tf2_ros" exec="static_transform_publisher" name="tf_broadcaster" output="screen" args="$(var wheel_base) 0 0 0 0 0 base_link autosar"/-->

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<node pkg="topic_tools" exec="transform" name="steer_angle_transform" output="screen" args="/vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float32 'std_msgs.msg.Float32(data=m.steering_tire_angle)' --import autoware_auto_vehicle_msgs std_msgs --wait-for-start"/>
<!-- ros2 run topic_tools transform /vehicle/status/steering_status /vehicle/status/steering_status_scalar std_msgs/msg/Float64 'std_msgs.msg.Float64(data=m.steering_tire_angle)' \-\-import autoware_auto_vehicle_msgs std_msgs -->

<group>
<push-ros-namespace namespace="front_center"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<arg name="sensor_ip" value="10.13.1.114"/>
<arg name="frame_id" value="front_center/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>

<group>
<push-ros-namespace namespace="front_left"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/ars408.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="interface" value="$(var radar_can_device)" />
<arg name="input/frame" value="$(var input/frame)" />
<arg name="output_frame" value="ars408_front_center" />
<arg name="sensor_ip" value="10.13.1.115"/>
<arg name="frame_id" value="front_left/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>

<node pkg="topic_tools" exec="relay" name="radar_relay" output="log" args="front_center/detected_objects detected_objects"/>
<group>
<push-ros-namespace namespace="front_right"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<arg name="sensor_ip" value="10.13.1.116"/>
<arg name="frame_id" value="front_right/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>

<group>
<push-ros-namespace namespace="rear_center"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<arg name="sensor_ip" value="10.13.1.117"/>
<arg name="frame_id" value="rear_center/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>

<group>
<push-ros-namespace namespace="rear_left"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<arg name="sensor_ip" value="10.13.1.118"/>
<arg name="frame_id" value="rear_left/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>

<group>
<push-ros-namespace namespace="rear_right"/>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

<arg name="sensor_ip" value="10.13.1.119"/>
<arg name="frame_id" value="rear_right/radar_link"/>

<arg name="sensor_model" value="ARS548"/>
<arg name="host_ip" value="10.13.1.166"/>
<arg name="multicast_ip" value="224.0.2.2"/>
<arg name="data_port" value="42102"/>
<arg name="configuration_host_port" value="42401"/>
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>
</group>
</group>
</launch>
1 change: 1 addition & 0 deletions common_sensor_launch/launch/hesai_OT128.launch.xml
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Expand Up @@ -34,5 +34,6 @@
<arg name="container_name" value="$(var container_name)"/>
<arg name="ptp_profile" value="802.1as"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="setup_sensor" value="false"/>
</include>
</launch>
4 changes: 4 additions & 0 deletions common_sensor_launch/launch/hesai_XT32.launch.xml
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Expand Up @@ -32,6 +32,10 @@
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="ptp_profile" value="1588v2"/>
<arg name="ptp_transport_type" value="L2"/>
<arg name="setup_sensor" value="true"/>
<arg name="retry_hw" value="true"/>
<arg name="container_name" value="$(var container_name)"/>
</include>
</launch>

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