From c41709f70c8d743ca72ac1889502361d8eada657 Mon Sep 17 00:00:00 2001
From: h-ohta <hiroki.ota@tier4.jp>
Date: Tue, 25 Jun 2024 11:09:06 +0900
Subject: [PATCH] delete previous

---
 .../config/front_unit_calibration.yaml        |  43 ----
 .../config/rear_unit_calibration.yaml         |  43 ----
 .../config/top_unit_calibration.yaml          |  78 -------
 aip_x2_description/urdf/front_unit.xacro      | 101 ---------
 aip_x2_description/urdf/rear_unit.xacro       | 101 ---------
 aip_x2_description/urdf/top_unit.xacro        | 194 ------------------
 6 files changed, 560 deletions(-)
 delete mode 100644 aip_x2_description/config/front_unit_calibration.yaml
 delete mode 100644 aip_x2_description/config/rear_unit_calibration.yaml
 delete mode 100644 aip_x2_description/config/top_unit_calibration.yaml
 delete mode 100644 aip_x2_description/urdf/front_unit.xacro
 delete mode 100644 aip_x2_description/urdf/rear_unit.xacro
 delete mode 100644 aip_x2_description/urdf/top_unit.xacro

diff --git a/aip_x2_description/config/front_unit_calibration.yaml b/aip_x2_description/config/front_unit_calibration.yaml
deleted file mode 100644
index 0c21e2d5..00000000
--- a/aip_x2_description/config/front_unit_calibration.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-front_unit_base_link:
-  pandar_40p_front_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.570796
-  pandar_qt_front_base_link:
-    x: 0.019
-    y: 0.0
-    z: 0.136
-    roll: 0.0
-    pitch: 0.0
-    yaw: 2.09439
-  camera6/camera_link:
-    x: 0.0534
-    y: 0.0
-    z: 0.2657
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  front_center/radar_link:
-    x: -0.01295
-    y: 0.0
-    z: -0.07554
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  front_left/radar_link:
-    x: -0.132
-    y: 1.0 # todo
-    z: 0.0174
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.2217 # 70[deg]
-  front_right/radar_link:
-    x: -0.132
-    y: -1.0 # todo
-    z: 0.0174
-    roll: 0.0
-    pitch: 0.0
-    yaw: -1.2217 # 70[deg]
diff --git a/aip_x2_description/config/rear_unit_calibration.yaml b/aip_x2_description/config/rear_unit_calibration.yaml
deleted file mode 100644
index ed4c5c4b..00000000
--- a/aip_x2_description/config/rear_unit_calibration.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-rear_unit_base_link:
-  pandar_40p_rear_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.570796
-  pandar_qt_rear_base_link:
-    x: 0.0189
-    y: 0.0
-    z: 0.135
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.91986
-  camera3/camera_link:
-    x: 0.002
-    y: 0.125
-    z: 0.17965
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  rear_center/radar_link:
-    x: 0.0
-    y: 0.0
-    z: -0.09819
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  rear_left/radar_link:
-    x: -0.01295
-    y: -1.11225 # todo
-    z: 0.092
-    roll: 0.0
-    pitch: 0.0
-    yaw: -1.2217 # 70[deg]
-  rear_right/radar_link:
-    x: -0.01295
-    y: 1.11225 # todo
-    z: 0.092
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.2217 # 70[deg]
diff --git a/aip_x2_description/config/top_unit_calibration.yaml b/aip_x2_description/config/top_unit_calibration.yaml
deleted file mode 100644
index 562db0c1..00000000
--- a/aip_x2_description/config/top_unit_calibration.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-top_unit_base_link:
-  camera0/camera_link:
-    x: 0.76673
-    y: -1.186
-    z: 0.05965
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  camera1/camera_link:
-    x: 0.16818
-    y: -2.10372
-    z: -0.0651
-    roll: 0.0
-    pitch: 0.22689 # 13[deg]
-    yaw: -1.134464 # 65[deg]
-  camera2/camera_link:
-    x: -0.19012
-    y: -2.09141
-    z: -0.0651
-    roll: 0.0
-    pitch: 0.22689 # 13[deg]
-    yaw: -2.39110 # 137[deg]
-  camera4/camera_link:
-    x: -0.19012
-    y: -0.06258
-    z: -0.0651
-    roll: 0.0
-    pitch: 0.22689 # 13[deg]
-    yaw: 2.39110 # 137[deg]
-  camera5/camera_link:
-    x: 0.16818
-    y: -0.05027
-    z: -0.0651
-    roll: 0.000000
-    pitch: 0.22689 # 13[deg]
-    yaw: 1.134464 # 65[deg]
-  camera7/camera_link:
-    x: 0.76673
-    y: -0.964
-    z: 0.05965
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  pandar_40p_left_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 3.141592
-  pandar_qt_left_base_link:
-    x: 0.0
-    y: -0.04
-    z: -0.17
-    roll: 0.6981 # 40[deg]
-    pitch: 0.0
-    yaw: -3.141592
-  pandar_40p_right_base_link:
-    x: 0.000000
-    y: -2.154
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  pandar_qt_right_base_link:
-    x: 0.0
-    y: -2.114
-    z: -0.17
-    roll: 0.6981 # 40[deg]
-    pitch: 0.0
-    yaw: 0.0
-  tamagawa/imu_link:
-    x: 0.5675
-    y: 0.0
-    z: -0.0651
-    roll: 3.141592
-    pitch: 0.0
-    yaw: 0.0
diff --git a/aip_x2_description/urdf/front_unit.xacro b/aip_x2_description/urdf/front_unit.xacro
deleted file mode 100644
index ac5a7fee..00000000
--- a/aip_x2_description/urdf/front_unit.xacro
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="front_unit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_40p.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_qt.xacro"/>
-    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
-    <xacro:include filename="$(find aip_x2_description)/urdf/radar.xacro"/>
-
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_x2_description)/config"/>
-
-    <xacro:property name="front_unit_base_link" default="front_unit_base_link"/>
-
-    <joint name="${front_unit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${front_unit_base_link}"/>
-    </joint>
-    <link name="${front_unit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </link>
-
-    <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/front_unit_calibration.yaml')}"/>
-
-    <!-- camera -->
-    <xacro:monocular_camera_macro
-      name="camera6/camera"
-      parent="front_unit_base_link"
-      namespace=""
-      x="${calibration['front_unit_base_link']['camera6/camera_link']['x']}"
-      y="${calibration['front_unit_base_link']['camera6/camera_link']['y']}"
-      z="${calibration['front_unit_base_link']['camera6/camera_link']['z']}"
-      roll="${calibration['front_unit_base_link']['camera6/camera_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['camera6/camera_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['camera6/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- lidar -->
-    <xacro:Pandar40P
-      name="pandar_40p_front"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['x']}"
-      y="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['y']}"
-      z="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['z']}"
-      roll="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['pandar_40p_front_base_link']['yaw']}"
-    />
-
-    <xacro:PandarQT
-      name="pandar_qt_front"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['x']}"
-      y="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['y']}"
-      z="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['z']}"
-      roll="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['yaw']}"
-    />
-
-    <!-- radar -->
-    <xacro:radar_macro
-      name="front_center/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_center/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_center/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_center/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_center/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_center/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_center/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="front_left/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_left/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_left/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_left/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_left/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_left/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_left/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="front_right/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_right/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_right/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_right/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_right/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_right/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_right/radar_link']['yaw']}"
-    />
-
-  </xacro:macro>
-</robot>
diff --git a/aip_x2_description/urdf/rear_unit.xacro b/aip_x2_description/urdf/rear_unit.xacro
deleted file mode 100644
index c2c052d3..00000000
--- a/aip_x2_description/urdf/rear_unit.xacro
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="rear_unit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_40p.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_qt.xacro"/>
-    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
-    <xacro:include filename="$(find aip_x2_description)/urdf/radar.xacro"/>
-
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_x2_description)/config"/>
-
-    <xacro:property name="rear_unit_base_link" default="rear_unit_base_link"/>
-
-    <joint name="${rear_unit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${rear_unit_base_link}"/>
-    </joint>
-    <link name="${rear_unit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </link>
-
-    <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/rear_unit_calibration.yaml')}"/>
-
-    <!-- BFS4(R) -->
-    <xacro:monocular_camera_macro
-      name="camera3/camera"
-      parent="rear_unit_base_link"
-      namespace=""
-      x="${calibration['rear_unit_base_link']['camera3/camera_link']['x']}"
-      y="${calibration['rear_unit_base_link']['camera3/camera_link']['y']}"
-      z="${calibration['rear_unit_base_link']['camera3/camera_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['camera3/camera_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['camera3/camera_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['camera3/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- lidar -->
-    <xacro:Pandar40P
-      name="pandar_40p_rear"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['x']}"
-      y="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['y']}"
-      z="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['pandar_40p_rear_base_link']['yaw']}"
-    />
-
-    <xacro:PandarQT
-      name="pandar_qt_rear"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['x']}"
-      y="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['y']}"
-      z="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['yaw']}"
-    />
-
-    <!-- radar -->
-    <xacro:radar_macro
-      name="rear_center/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_center/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_center/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_center/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_center/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_center/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_center/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="rear_left/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_left/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_left/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_left/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_left/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_left/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_left/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="rear_right/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_right/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_right/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_right/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_right/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_right/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_right/radar_link']['yaw']}"
-    />
-
-  </xacro:macro>
-</robot>
diff --git a/aip_x2_description/urdf/top_unit.xacro b/aip_x2_description/urdf/top_unit.xacro
deleted file mode 100644
index 43277584..00000000
--- a/aip_x2_description/urdf/top_unit.xacro
+++ /dev/null
@@ -1,194 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="top_unit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_40p.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_qt.xacro"/>
-    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
-    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
-
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_x2_description)/config"/>
-
-    <xacro:property name="top_unit_base_link" default="top_unit_base_link"/>
-
-    <joint name="${top_unit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${top_unit_base_link}"/>
-    </joint>
-    <link name="${top_unit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </link>
-
-    <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/top_unit_calibration.yaml')}"/>
-
-    <!-- lidar -->
-    <!-- left -->
-    <xacro:Pandar40P
-      name="pandar_40p_left"
-      parent="top_unit_base_link"
-      x="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['x']}"
-      y="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['y']}"
-      z="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['z']}"
-      roll="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['pandar_40p_left_base_link']['yaw']}"
-    />
-
-    <xacro:PandarQT
-      name="pandar_qt_left"
-      parent="top_unit_base_link"
-      x="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['x']}"
-      y="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['y']}"
-      z="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['z']}"
-      roll="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['pandar_qt_left_base_link']['yaw']}"
-    />
-
-    <!-- right -->
-    <xacro:Pandar40P
-      name="pandar_40p_right"
-      parent="top_unit_base_link"
-      x="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['x']}"
-      y="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['y']}"
-      z="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['z']}"
-      roll="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['pandar_40p_right_base_link']['yaw']}"
-    />
-
-    <xacro:PandarQT
-      name="pandar_qt_right"
-      parent="top_unit_base_link"
-      x="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['x']}"
-      y="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['y']}"
-      z="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['z']}"
-      roll="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['yaw']}"
-    />
-
-    <!-- camera -->
-    <!-- TLR -->
-    <xacro:monocular_camera_macro
-      name="camera7/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera7/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera7/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera7/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera7/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera7/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera7/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- BFS1(F) -->
-    <xacro:monocular_camera_macro
-      name="camera0/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera0/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera0/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera0/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera0/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera0/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera0/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- BFS2(RF) -->
-    <xacro:monocular_camera_macro
-      name="camera1/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera1/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera1/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera1/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera1/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera1/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera1/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- BFS3(RR) -->
-    <xacro:monocular_camera_macro
-      name="camera2/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera2/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera2/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera2/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera2/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera2/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera2/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- BFS4(R) -->
-    <!-- embedded! -->
-
-    <!-- BFS5(LR) -->
-    <xacro:monocular_camera_macro
-      name="camera4/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera4/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera4/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera4/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera4/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera4/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera4/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- BFS6(LR) -->
-    <xacro:monocular_camera_macro
-      name="camera5/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera5/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera5/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera5/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera5/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera5/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera5/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
-    <!-- imu -->
-    <xacro:imu_macro
-      name="tamagawa/imu"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['tamagawa/imu_link']['x']}"
-      y="${calibration['top_unit_base_link']['tamagawa/imu_link']['y']}"
-      z="${calibration['top_unit_base_link']['tamagawa/imu_link']['z']}"
-      roll="${calibration['top_unit_base_link']['tamagawa/imu_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['tamagawa/imu_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['tamagawa/imu_link']['yaw']}"
-      fps="100"
-    />
-  </xacro:macro>
-
-</robot>