Skip to content

Commit

Permalink
feat: add x2 gen2 files (#269)
Browse files Browse the repository at this point in the history 
* feat: add aip_x2_gen2 files

Signed-off-by: Tomohito ANDO <[email protected]>

* rename for gen2

Signed-off-by: Tomohito ANDO <[email protected]>

---------

Signed-off-by: Tomohito ANDO <[email protected]>
  • Loading branch information
@TomohitoAndo
TomohitoAndo committed Aug 31, 2024
1 parent 5ac40d3 commit d0c36fd
Show file tree
Hide file tree
Showing 28 changed files with 3,113 additions and 0 deletions.
11 changes: 11 additions & 0 deletions aip_x2_gen2_description/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
cmake_minimum_required(VERSION 3.5)
project(aip_x2_gen2_description)

find_package(ament_cmake_auto REQUIRED)

ament_auto_find_build_dependencies()

ament_auto_package(INSTALL_TO_SHARE
urdf
config
)
173 changes: 173 additions & 0 deletions aip_x2_gen2_description/config/sensor_kit_calibration.yaml
View file
Original file line number Diff line number Diff line change
@@ -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
57 changes: 57 additions & 0 deletions aip_x2_gen2_description/config/sensors_calibration.yaml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,57 @@
base_link:
sensor_kit_base_link:
x: 4.66244
y: 1.07589
z: 2.78926
roll: 0.0
pitch: 0.0
yaw: 0.0

# radar
front_center/radar_link:
x: 5.69207
y: 0.0
z: 0.78894
roll: 0.0
pitch: 0.0
yaw: 0.0

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: 0.78894
roll: 0.0
pitch: 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]
17 changes: 17 additions & 0 deletions aip_x2_gen2_description/package.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0"?>
<package format="2">
<name>aip_x2_gen2_description</name>
<version>0.1.0</version>
<description>The aip_x2_gen2_description package</description>

<maintainer email="[email protected]">Tomohito Ando</maintainer>
<license>Apache 2</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<depend>pandar_description</depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
24 changes: 24 additions & 0 deletions aip_x2_gen2_description/urdf/gnss.xacro
View file
Original file line number Diff line number Diff line change
@@ -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>
31 changes: 31 additions & 0 deletions aip_x2_gen2_description/urdf/radar.xacro
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="radar_macro" params="name parent x y z roll pitch yaw">
<xacro:property name="mass" value="0.01" />

<joint name="${name}_base_mount_joint" type="fixed">
<origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
<parent link="${parent}"/>
<child link="${name}"/>
</joint>

<link name="${name}">
<visual>
<geometry>
<box size="0.03 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="${mass}"/>
<inertia ixx="${(0.03*0.03+0.03*0.03)*mass/12.0}" ixy="0.0" ixz="0.0"
iyy="${(0.1*0.1+0.1*0.1)*mass/12.0}" iyz="0.0"
izz="${(0.1*0.1+0.1*0.1)*mass/12.0}"/>
</inertial>
</link>
</xacro:macro>
</robot>
Loading

0 comments on commit d0c36fd

Please sign in to comment.