From ca358391064f0395da021fc651b249bf12c761c7 Mon Sep 17 00:00:00 2001
From: Hiroki OTA <hiroki.ota@tier4.jp>
Date: Fri, 5 Jul 2024 10:44:56 +0900
Subject: [PATCH] feat(aip_x2): gen2 sensor_kit (#244)

* feat: add sensor_kit

* add front lower

* add rest piece

* delete previous

* delete vendor and sensor name

* delete top form top_right and top_left

* use upper and lower

* fix to use OT128

* fix to use QT-128
---
 .../config/front_unit_calibration.yaml        |  43 ---
 .../config/rear_unit_calibration.yaml         |  43 ---
 .../config/sensor_kit_calibration.yaml        | 173 +++++++++
 .../config/sensors_calibration.yaml           |  64 +++-
 .../config/top_unit_calibration.yaml          |  78 ----
 aip_x2_description/urdf/front_unit.xacro      | 101 -----
 aip_x2_description/urdf/gnss.xacro            |  24 ++
 aip_x2_description/urdf/rear_unit.xacro       | 101 -----
 aip_x2_description/urdf/sensor_kit.xacro      | 345 ++++++++++++++++++
 aip_x2_description/urdf/sensors.xacro         | 120 +++---
 aip_x2_description/urdf/top_unit.xacro        | 194 ----------
 11 files changed, 656 insertions(+), 630 deletions(-)
 delete mode 100644 aip_x2_description/config/front_unit_calibration.yaml
 delete mode 100644 aip_x2_description/config/rear_unit_calibration.yaml
 create mode 100644 aip_x2_description/config/sensor_kit_calibration.yaml
 delete mode 100644 aip_x2_description/config/top_unit_calibration.yaml
 delete mode 100644 aip_x2_description/urdf/front_unit.xacro
 create mode 100644 aip_x2_description/urdf/gnss.xacro
 delete mode 100644 aip_x2_description/urdf/rear_unit.xacro
 create mode 100644 aip_x2_description/urdf/sensor_kit.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/sensor_kit_calibration.yaml b/aip_x2_description/config/sensor_kit_calibration.yaml
new file mode 100644
index 00000000..4a37420d
--- /dev/null
+++ b/aip_x2_description/config/sensor_kit_calibration.yaml
@@ -0,0 +1,173 @@
+sensor_kit_base_link:
+  # left upper
+  left_upper/lidar_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  left_lower/lidar_base_link:
+    x: 0.0
+    y: -0.025
+    z: -0.115
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  left_front/camera_link:
+    x: 0.12758
+    y: -0.04589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: 0.85478 # 49 [deg]
+  left_rear/camera_link:
+    x: -0.12842
+    y: -0.04589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: 2.2678 # 130 [deg]
+  left_center/camera_link:
+    x: 0.0
+    y: -0.04089
+    z: -0.18666
+    roll: 0.0
+    pitch: 0.933278 # 53.50 [deg]
+    yaw: 1.570796 # 90 [deg]
+
+  # right upper
+  right_upper/lidar_base_link:
+    x: 0.0
+    y: -2.15178
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0 # to turn the connector toward the vehicle
+  right_lower/lidar_base_link:
+    x: 0.0
+    y: -2.12678
+    z: -0.115
+    roll: 0.6981 # 40 [deg]
+    pitch: 0.0
+    yaw: 0.0 # to turn the connector toward the vehicle
+  right_front/camera_link:
+    x: 0.12758
+    y: -2.10589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: -0.85478 # -49 [deg]
+  right_rear/camera_link:
+    x: -0.12842
+    y: -2.10589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: -2.2678 # -130 [deg]
+  right_center/camera_link:
+    x: 0.0
+    y: -2.11089
+    z: -0.18666
+    roll: 0.0
+    pitch: 0.933278 # 53.50 [deg]
+    yaw: -1.570796 # -90 [deg]
+
+  # front upper
+  top_front_left/imu_link:
+    x: 0.562
+    y: -0.99974
+    z: -0.06146
+    roll: 3.141592
+    pitch: 0.0
+    yaw: 0.0
+  top_front_right/imu_link:
+    x: 0.562
+    y: -1.13974
+    z: -0.06146
+    roll: 3.141592
+    pitch: 0.0
+    yaw: 0.0
+  top_front_right/camera_link:
+    x: 0.73758
+    y: -1.26439
+    z: -0.06666
+    roll: 0.0
+    pitch: 0.8373 # 48 [deg]
+    yaw: 0.0
+  top_front_center_right/camera_link:
+    x: 0.73058
+    y: -1.18899
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front_center_left/camera_link:
+    x: 0.73058
+    y: -1.03819
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front_left/camera_link:
+    x: 0.73058
+    y: -0.96279
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front/gnss_link:
+    x: 0.30133
+    y: -1.07589
+    z: 0.02861
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  # rear upper
+  top_rear_center/camera_link:
+    x: -6.06359
+    y: -1.20389
+    z: -0.14078
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  top_rear/gnss_link:
+    x: -5.77517
+    y: -1.07589
+    z: 0.02861
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  # front lower
+  front_upper/lidar_base_link:
+    x: 0.94058
+    y: -1.07589
+    z: -1.91826
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+  front_lower/lidar_base_link:
+    x: 0.96758
+    y: -1.07589
+    z: -2.15234
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+
+  # rear lower
+  rear_upper/lidar_base_link:
+    x: -6.08042
+    y: -1.07589
+    z: -1.91826
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
+  rear_lower/lidar_base_link:
+    x: -6.10742
+    y: -1.07589
+    z: -2.15234
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
diff --git a/aip_x2_description/config/sensors_calibration.yaml b/aip_x2_description/config/sensors_calibration.yaml
index bb0f7591..1b5105f0 100644
--- a/aip_x2_description/config/sensors_calibration.yaml
+++ b/aip_x2_description/config/sensors_calibration.yaml
@@ -1,29 +1,57 @@
 base_link:
-  top_unit_base_link:
-    x: 4.6621
-    y: 1.079
-    z: 2.8087
+  sensor_kit_base_link:
+    x: 4.66244
+    y: 1.07589
+    z: 2.78926
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  front_unit_base_link:
-    x: 5.6221
+
+  # radar
+  front_center/radar_link:
+    x: 5.69207
     y: 0.0
-    z: 0.7547
+    z: 0.78894
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  rear_unit_base_link:
-    x: -1.4271
-    y: 0.0
-    z: 0.4795
-    roll: 0
-    pitch: 0
-    yaw: -3.141500
-  gnss_link:
-    x: -0.3
+
+  front_left/radar_link:
+    x: 5.37204
+    y: 1.08537
+    z: 0.73431
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.2211 # 70 [deg]
+
+  front_right/radar_link:
+    x: 5.37204
+    y: -1.06642
+    z: 0.73431
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.2211 # 70 [deg]
+
+  rear_center/radar_link:
+    x: -1.50704
     y: 0.0
-    z: 2.689
+    z: 0.78894
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
+    yaw: 3.141592 # 180 [deg]
+
+  rear_left/radar_link:
+    x: -1.27564
+    y: 1.07767
+    z: 0.5487
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.9189 # 110 [deg]
+
+  rear_right/radar_link:
+    x: -1.27564
+    y: -1.07768
+    z: 0.5487
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.9189 # 110 [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/gnss.xacro b/aip_x2_description/urdf/gnss.xacro
new file mode 100644
index 00000000..55002be0
--- /dev/null
+++ b/aip_x2_description/urdf/gnss.xacro
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="gnss_macro" params="name parent x y z roll pitch yaw">
+    <xacro:property name="sensor_box" value="0.05"/>
+
+    <joint name="${name}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <box size="${sensor_box} ${sensor_box} ${sensor_box}"/>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <material name="green">
+          <color rgba="0.0 1.0 0.0 1.0"/>
+        </material>
+      </visual>
+    </link>
+  </xacro:macro>
+</robot>
diff --git a/aip_x2_description/urdf/rear_unit.xacro b/aip_x2_description/urdf/rear_unit.xacro
deleted file mode 100644
index c2c052d3..00000000
--- a/aip_x2_description/urdf/rear_unit.xacro
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="rear_unit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(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/sensor_kit.xacro b/aip_x2_description/urdf/sensor_kit.xacro
new file mode 100644
index 00000000..fa1bf069
--- /dev/null
+++ b/aip_x2_description/urdf/sensor_kit.xacro
@@ -0,0 +1,345 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_qt128.xacro" />
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro" />
+    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro" />
+    <xacro:include filename="$(find imu_description)/urdf/imu.xacro" />
+    <xacro:include filename="$(find aip_x2_description)/urdf/gnss.xacro" />
+
+    <xacro:arg name="gpu" default="false" />
+    <xacro:arg name="config_dir" default="$(find aip_x2_description)/config" />
+
+    <!-- base-->
+    <xacro:property name="calibration"
+      value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}" />
+
+    <joint name="sensor_kit_base_link_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}" />
+      <parent link="${parent}" />
+      <child link="sensor_kit_base_link" />
+    </joint>
+    <link name="sensor_kit_base_link">
+      <origin rpy="0 0 0" xyz="0 0 0" />
+    </link>
+
+    <!-- left upper-->
+    <xacro:PandarOT-128
+      name="left_upper/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_upper/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:PandarQT-128
+      name="left_lower/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_lower/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:monocular_camera_macro
+      name="left_front/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['left_front/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_front/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_front/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_front/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_front/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_front/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="left_rear/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['left_rear/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_rear/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_rear/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_rear/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_rear/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_rear/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="left_center/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['left_center/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['left_center/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['left_center/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['left_center/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['left_center/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['left_center/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <!-- right upper-->
+    <xacro:PandarOT-128
+      name="right_upper/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_upper/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:PandarQT-128
+      name="right_lower/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_lower/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:monocular_camera_macro
+      name="right_front/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['right_front/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_front/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_front/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_front/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_front/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_front/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="right_rear/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['right_rear/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_rear/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_rear/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_rear/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_rear/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_rear/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="right_center/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['right_center/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['right_center/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['right_center/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['right_center/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['right_center/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['right_center/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <!-- front upper-->
+    <xacro:imu_macro
+      name="top_front_left/imu"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_left/imu_link']['yaw']}"
+      fps="100"
+    />
+
+    <xacro:imu_macro
+      name="top_front_right/imu"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_right/imu_link']['yaw']}"
+      fps="100"
+    />
+
+    <xacro:monocular_camera_macro
+      name="top_front_right/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_right/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="top_front_center_right/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_center_right/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="top_front_center_left/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_center_left/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:monocular_camera_macro
+      name="top_front_left/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front_left/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:gnss_macro
+      name="top_front/gnss"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['top_front/gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_front/gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_front/gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_front/gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_front/gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_front/gnss_link']['yaw']}"
+    />
+
+    <!-- rear upper -->
+    <xacro:monocular_camera_macro
+      name="top_rear_center/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_rear_center/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
+
+    <xacro:gnss_macro
+      name="top_rear/gnss"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['top_rear/gnss_link']['yaw']}"
+    />
+
+    <!-- front lower -->
+    <xacro:PandarOT-128
+      name="front_upper/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['front_upper/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:PandarQT-128
+      name="front_lower/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['front_lower/lidar_base_link']['yaw']}"
+    />
+
+    <!-- rear lower -->
+    <xacro:PandarOT-128
+      name="rear_upper/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['rear_upper/lidar_base_link']['yaw']}"
+    />
+
+    <xacro:PandarQT-128
+      name="rear_lower/lidar"
+      parent="sensor_kit_base_link"
+      x="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['x']}"
+      y="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['y']}"
+      z="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['z']}"
+      roll="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['roll']}"
+      pitch="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['pitch']}"
+      yaw="${calibration['sensor_kit_base_link']['rear_lower/lidar_base_link']['yaw']}"
+    />
+
+  </xacro:macro>
+</robot>
diff --git a/aip_x2_description/urdf/sensors.xacro b/aip_x2_description/urdf/sensors.xacro
index 5d362e51..3513f98e 100644
--- a/aip_x2_description/urdf/sensors.xacro
+++ b/aip_x2_description/urdf/sensors.xacro
@@ -1,71 +1,87 @@
 <?xml version="1.0"?>
 <robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
-  <xacro:arg name="config_dir" default="$(find aip_x2_description)/config"/>
-  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
+  <xacro:include filename="$(find aip_x2_description)/urdf/radar.xacro" />
+  <xacro:arg name="config_dir" default="$(find aip_x2_description)/config" />
+  <xacro:property name="calibration"
+    value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}" />
 
-  <!-- top unit -->
-  <xacro:include filename="top_unit.xacro"/>
-  <xacro:top_unit_macro
+  <!-- sensor kit -->
+  <xacro:include filename="sensor_kit.xacro" />
+  <xacro:sensor_kit_macro
     parent="base_link"
-    x="${calibration['base_link']['top_unit_base_link']['x']}"
-    y="${calibration['base_link']['top_unit_base_link']['y']}"
-    z="${calibration['base_link']['top_unit_base_link']['z']}"
-    roll="${calibration['base_link']['top_unit_base_link']['roll']}"
-    pitch="${calibration['base_link']['top_unit_base_link']['pitch']}"
-    yaw="${calibration['base_link']['top_unit_base_link']['yaw']}"
+    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
+    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
+    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
+    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
+    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
+    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
 
-  <!-- front unit -->
-  <xacro:include filename="front_unit.xacro"/>
-  <xacro:front_unit_macro
+  <!-- radar -->
+  <xacro:radar_macro
+    name="front_center/radar_link"
     parent="base_link"
-    x="${calibration['base_link']['front_unit_base_link']['x']}"
-    y="${calibration['base_link']['front_unit_base_link']['y']}"
-    z="${calibration['base_link']['front_unit_base_link']['z']}"
-    roll="${calibration['base_link']['front_unit_base_link']['roll']}"
-    pitch="${calibration['base_link']['front_unit_base_link']['pitch']}"
-    yaw="${calibration['base_link']['front_unit_base_link']['yaw']}"
+    x="${calibration['base_link']['front_center/radar_link']['x']}"
+    y="${calibration['base_link']['front_center/radar_link']['y']}"
+    z="${calibration['base_link']['front_center/radar_link']['z']}"
+    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
   />
 
-  <!-- rear unit -->
-  <xacro:include filename="rear_unit.xacro"/>
-  <xacro:rear_unit_macro
+  <xacro:radar_macro
+    name="front_left/radar_link"
     parent="base_link"
-    x="${calibration['base_link']['rear_unit_base_link']['x']}"
-    y="${calibration['base_link']['rear_unit_base_link']['y']}"
-    z="${calibration['base_link']['rear_unit_base_link']['z']}"
-    roll="${calibration['base_link']['rear_unit_base_link']['roll']}"
-    pitch="${calibration['base_link']['rear_unit_base_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_unit_base_link']['yaw']}"
+    x="${calibration['base_link']['front_left/radar_link']['x']}"
+    y="${calibration['base_link']['front_left/radar_link']['y']}"
+    z="${calibration['base_link']['front_left/radar_link']['z']}"
+    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
   />
 
-  <!-- gnss -->
-  <xacro:imu_macro
-    name="gnss"
+  <xacro:radar_macro
+    name="front_right/radar_link"
     parent="base_link"
-    namespace=""
-    x="${calibration['base_link']['gnss_link']['x']}"
-    y="${calibration['base_link']['gnss_link']['y']}"
-    z="${calibration['base_link']['gnss_link']['z']}"
-    roll="${calibration['base_link']['gnss_link']['roll']}"
-    pitch="${calibration['base_link']['gnss_link']['pitch']}"
-    yaw="${calibration['base_link']['gnss_link']['yaw']}"
-    fps="100"
+    x="${calibration['base_link']['front_right/radar_link']['x']}"
+    y="${calibration['base_link']['front_right/radar_link']['y']}"
+    z="${calibration['base_link']['front_right/radar_link']['z']}"
+    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
   />
 
-  <!-- radar -->
-  <xacro:imu_macro
-    name="ars408_front"
+  <xacro:radar_macro
+    name="rear_center/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_center/radar_link']['x']}"
+    y="${calibration['base_link']['rear_center/radar_link']['y']}"
+    z="${calibration['base_link']['rear_center/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
+  />
+
+  <xacro:radar_macro
+    name="rear_left/radar_link"
+    parent="base_link"
+    x="${calibration['base_link']['rear_left/radar_link']['x']}"
+    y="${calibration['base_link']['rear_left/radar_link']['y']}"
+    z="${calibration['base_link']['rear_left/radar_link']['z']}"
+    roll="${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']}"
+  />
+
+  <xacro:radar_macro
+    name="rear_right/radar_link"
     parent="base_link"
-    namespace=""
-    x="5.6221"
-    y="0"
-    z="0.7547"
-    roll="0"
-    pitch="0"
-    yaw="0"
-    fps="100"
+    x="${calibration['base_link']['rear_right/radar_link']['x']}"
+    y="${calibration['base_link']['rear_right/radar_link']['y']}"
+    z="${calibration['base_link']['rear_right/radar_link']['z']}"
+    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
+    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
+    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
   />
 
 </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>