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add folders for description
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Signed-off-by: Yuxuan Liu <[email protected]>
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@HinsRyu
HinsRyu committed Jun 17, 2024
1 parent 2e95c3c commit a618544
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Showing 11 changed files with 780 additions and 330 deletions.
181 changes: 80 additions & 101 deletions aip_xx1_description/config/sensor_kit_calibration.yaml
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Original file line number Diff line number Diff line change
@@ -1,113 +1,92 @@
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
x: 0.10731
y: 0.56343
z: -0.27697
roll: -0.025
pitch: 0.315
yaw: 1.035
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
x: -0.10731
y: -0.56343
z: -0.27697
roll: -0.025
pitch: 0.32
yaw: -2.12
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
x: 0.10731
y: -0.56343
z: -0.27697
roll: -0.00
pitch: 0.335
yaw: -1.04
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
x: -0.10731
y: 0.56343
z: -0.27697
roll: 0.0
pitch: 0.325
yaw: 2.0943951
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
x: 0.07356
y: 0.0
z: -0.0525
roll: 0.0
pitch: -0.03
yaw: -0.005
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
x: -0.07356
y: 0.0
z: -0.0525
roll: 0.0
pitch: -0.01
yaw: 3.125
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
x: 0.05
y: 0.0175
z: -0.1
roll: 0.0
pitch: 0.0
yaw: 0.0
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
x: 0.05
y: -0.0175
z: -0.1
roll: 0.0
pitch: 0.0
yaw: 0.0
velodyne_top_base_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 1.575
velodyne_left_base_link:
x: 0.0
y: 0.56362
z: -0.30555
roll: -0.02
pitch: 0.71
yaw: 1.575
velodyne_right_base_link:
x: 0.0
y: -0.56362
z: -0.30555
roll: -0.01
pitch: 0.71
yaw: -1.580
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
x: -0.1
y: 0.0
z: -0.2
roll: 0.0
pitch: 0.0
yaw: 0.0
tamagawa/imu_link:
x: -0.129 # Design Value
y: 0.0 # Design Value
z: -0.160 # Design Value
x: 0.0
y: 0.0
z: 0.0
roll: 3.14159265359
pitch: 0.0 # Design Value
yaw: 3.14159265359 # Design Value
pitch: 0.0
yaw: 3.14159265359
93 changes: 29 additions & 64 deletions aip_xx1_description/config/sensors_calibration.yaml
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Original file line number Diff line number Diff line change
@@ -1,71 +1,36 @@
base_link:
ars408_front_center:
x: 3.8
y: 0.0
z: 0.5
roll: 0.0
pitch: 0.0
yaw: 0.0
sensor_kit_base_link:
x: 0.9
y: 0.0
z: 2.0
roll: -0.001
pitch: 0.015
yaw: -0.0364
livox_front_right_base_link:
x: 3.290
y: -0.65485
z: 0.3216
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
yaw: -0.872664444
livox_front_left_base_link:
x: 3.290
y: 0.65485
z: 0.3016
roll: -0.021
pitch: 0.05
yaw: 0.872664444
velodyne_rear_base_link:
x: -0.358
y: 0.0
z: 1.631
roll: -0.02
pitch: 0.7281317
yaw: 3.141592
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