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author 1222-takeshi <[email protected]> 1684121183 +0900
committer Autumn60 <[email protected]> 1728374152 +0900

feat: update aip_x1 to use XT32

Signed-off-by: 1222-takeshi <[email protected]>

fix(velodyne_node_container): fix param load failure

Signed-off-by: 1222-takeshi <[email protected]>

fix(diagnostic_aggregator): update sensor kit param (#22) (#23)

* fix(diagnostic_aggregator): Modified aggregator confinguration to V1'

* fix path on diagnostic aggregator

fix: add vehicle_velocity_converter.launch (#146)

fix: add vehicle_velocity_converter.launch to aip_x1_1_launch

Signed-off-by: 1222-takeshi <[email protected]>

feat: add use_awsim option and add gnss imu

Signed-off-by: 1222-takeshi <[email protected]>

feat: add GNSS

Signed-off-by: 1222-takeshi <[email protected]>

feat: update for upstream

Signed-off-by: 1222-takeshi <[email protected]>

feat: add use_awsim option

Signed-off-by: 1222-takeshi <[email protected]>

feat: change topic name

Signed-off-by: 1222-takeshi <[email protected]>

feat: add node alive monitoring

Signed-off-by: 1222-takeshi <[email protected]>

feat: add gnss

Signed-off-by: 1222-takeshi <[email protected]>

feat: update ground_segmentation param

Signed-off-by: 1222-takeshi <[email protected]>

feat: remove use_awsim option

Signed-off-by: 1222-takeshi <[email protected]>

feat: add cropbox filter

Signed-off-by: 1222-takeshi <[email protected]>

feat: add diag of gyro_bias_validator

Signed-off-by: 1222-takeshi <[email protected]>

chore: update for upstream

Signed-off-by: 1222-takeshi <[email protected]>

chore: comment out for avoid no diag stale

Signed-off-by: 1222-takeshi <[email protected]>

feat: add gnss.launch for x1_1

Signed-off-by: 1222-takeshi <[email protected]>

feat: use pointcloud_container

Signed-off-by: 1222-takeshi <[email protected]>

fix: change topic name for ground segmentation

Signed-off-by: 1222-takeshi <[email protected]>

feat(aip_x1_launch): rename some topics

Signed-off-by: 1222-takeshi <[email protected]>

feat(aip_x1, aip_x1_1): use interpolate

Signed-off-by: 1222-takeshi <[email protected]>

feat(velodyne_node_container): use distortion_corrector

Signed-off-by: 1222-takeshi <[email protected]>

feat(ground_segmentation): change crop parameter

Signed-off-by: 1222-takeshi <[email protected]>

feat(obstacle_segmentation): relax ground_segmentation threshold

Signed-off-by: 1222-takeshi <[email protected]>

chore(ground_segmentation): change parameter name (#229)

* chore(ground_segmentation): change parameter name

Signed-off-by: 1222-takeshi <[email protected]>

* ci(pre-commit): autofix

---------

Signed-off-by: 1222-takeshi <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore(ground_segmentation): add missing parameters (#231)

* chore(ground_segmentation): change parameter name

Signed-off-by: 1222-takeshi <[email protected]>

* ci(pre-commit): autofix

* Add missing params to ground_segmentation.param.yaml

Signed-off-by: Autumn60 <[email protected]>

* ci(pre-commit): autofix

* Add missing params to ground_segmentation.param.yaml

Signed-off-by: Autumn60 <[email protected]>

* Fix crop_box params in ground_segmentation.param.yaml

Signed-off-by: Autumn60 <[email protected]>

* Fix crop_box param in ground_segmentation.param.yaml

Signed-off-by: Autumn60 <[email protected]>

* Revert crop_box params

Signed-off-by: Autumn60 <[email protected]>

* Add cropbox param calc to ground_segmentation.launch.py

Signed-off-by: Autumn60 <[email protected]>

* chore(ground_segmentation): change margin_max_z for cropbox

Signed-off-by: 1222-takeshi <[email protected]>

---------

Signed-off-by: 1222-takeshi <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Co-authored-by: 1222-takeshi <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Autumn60 <[email protected]>

feat: use nebula driver for aip_x1_1 sensor configuration (#235)

* feat: use nebula driver for aip_x1_1

Signed-off-by: 1222-takeshi <[email protected]>

* ci(pre-commit): autofix

* chore: remove comment out

Signed-off-by: 1222-takeshi <[email protected]>

* chore: remove unnecessary changes

Signed-off-by: 1222-takeshi <[email protected]>

---------

Signed-off-by: 1222-takeshi <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: remove aip_x1 and rename aip_x1_1 to aip_x1

Signed-off-by: 1222-takeshi <[email protected]>

chore: rename aip_x1_1 to aip_x1

Signed-off-by: 1222-takeshi <[email protected]>

chore: remove unused file and fix bug

Signed-off-by: 1222-takeshi <[email protected]>

ci(pre-commit): autofix

fix: diag list

Signed-off-by: 1222-takeshi <[email protected]>

fix cancat lidar topics

Signed-off-by: 1222-takeshi <[email protected]>
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1222-takeshi authored and Autumn60 committed Oct 8, 2024
1 parent 518c4d9 commit d68bfec
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Showing 18 changed files with 193 additions and 926 deletions.
42 changes: 21 additions & 21 deletions aip_x1_description/config/sensor_kit_calibration.yaml
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Expand Up @@ -6,24 +6,24 @@ sensor_kit_base_link:
roll: 0.000
pitch: 0.000
yaw: 0.000
livox_front_left_base_link:
x: 1.054
y: 0.260
z: -1.330
roll: 0.000
pitch: 0.000
yaw: 1.047
livox_front_center_base_link:
x: 1.054
y: 0.000
z: -1.330
roll: 0.000
pitch: 0.000
yaw: 0.000
livox_front_right_base_link:
x: 1.054
y: -0.260
z: -1.330
roll: 0.000
pitch: 0.000
yaw: -1.047
pandar_xt32_front_center_base_link:
x: 1.130
y: 0.038
z: -1.400
roll: -0.000
pitch: -0.00
yaw: 1.6225
tamagawa/imu_link:
x: 0.0
y: 0.0
z: 0.0
roll: 3.14159
pitch: 0.0
yaw: 0.0
gnss_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
6 changes: 3 additions & 3 deletions aip_x1_description/package.xml
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Expand Up @@ -2,14 +2,14 @@
<package format="2">
<name>aip_x1_description</name>
<version>0.1.0</version>
<description>The aip_xx1_description package</description>
<description>The aip_x1_description package</description>

<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
<maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
<license>Apache 2</license>

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<depend>livox_description</depend>
<depend>pandar_description</depend>
<depend>velodyne_description</depend>

<export>
Expand Down
58 changes: 33 additions & 25 deletions aip_x1_description/urdf/sensor_kit.xacro
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Expand Up @@ -2,6 +2,7 @@
<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="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>

<xacro:arg name="gpu" default="false"/>
<xacro:arg name="config_dir" default="$(find aip_x1_description)/config"/>
Expand Down Expand Up @@ -36,36 +37,43 @@
${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
/>
</xacro:VLP-16>
<xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
<xacro:livox_horizon_macro
name="livox_front_left"

<xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
<xacro:PandarXT-32
name="pandar_xt32_front_center"
parent="sensor_kit_base_link"
x="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['x']}"
y="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['y']}"
z="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['z']}"
roll="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['livox_front_left_base_link']['yaw']}"
x="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['x']}"
y="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['y']}"
z="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['z']}"
roll="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['yaw']}"
/>
<xacro:livox_horizon_macro
name="livox_front_center"
<!-- gnss -->
<xacro:imu_macro
name="gnss"
parent="sensor_kit_base_link"
x="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['x']}"
y="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['y']}"
z="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['z']}"
roll="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['livox_front_center_base_link']['yaw']}"
namespace=""
x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
fps="100"
/>
<xacro:livox_horizon_macro
name="livox_front_right"
<!-- imu -->
<xacro:imu_macro
name="tamagawa/imu"
parent="sensor_kit_base_link"
x="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['x']}"
y="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['y']}"
z="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['z']}"
roll="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['yaw']}"
namespace=""
x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
fps="100"
/>
</xacro:macro>
</robot>
1 change: 0 additions & 1 deletion aip_x1_launch/CMakeLists.txt
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Expand Up @@ -11,6 +11,5 @@ endif()

ament_auto_package(INSTALL_TO_SHARE
launch
data
config
)
114 changes: 64 additions & 50 deletions aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -4,6 +4,15 @@
type: diagnostic_aggregator/AnalyzerGroup
path: sensing
analyzers:
node_alive_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: node_alive_monitoring
analyzers:
topic_status:
type: diagnostic_aggregator/GenericAnalyzer
path: topic_status
contains: [": sensing_topic_status"]
timeout: 1.0
lidar:
type: diagnostic_aggregator/AnalyzerGroup
path: lidar
Expand Down Expand Up @@ -33,10 +42,9 @@
path: rpm
contains: [": velodyne_rpm"]
timeout: 3.0

livox:
pandar:
type: diagnostic_aggregator/AnalyzerGroup
path: livox
path: pandar
analyzers:
health_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
Expand All @@ -45,62 +53,68 @@
connection:
type: diagnostic_aggregator/GenericAnalyzer
path: connection
contains: [": livox_connection"]
timeout: 3.0

fan_status:
contains: [": pandar_connection"]
timeout: 5.0
temperature:
type: diagnostic_aggregator/GenericAnalyzer
path: fan_status
contains: [": livox_fan_status"]
timeout: 3.0

firmware_status:
path: temperature
contains: [": pandar_temperature"]
timeout: 5.0
ptp:
type: diagnostic_aggregator/GenericAnalyzer
path: firmware_status
contains: [": livox_firmware_status"]
timeout: 3.0
path: ptp
contains: [": pandar_ptp"]
timeout: 5.0

internal_voltage:
type: diagnostic_aggregator/GenericAnalyzer
path: internal_voltage
contains: [": livox_internal_voltage"]
timeout: 3.0
gnss:
type: diagnostic_aggregator/AnalyzerGroup
path: gnss
analyzers:
health_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: health_monitoring
analyzers:
connection:
type: diagnostic_aggregator/GenericAnalyzer
path: connection
contains: [": gnss_connection"]
timeout: 3.0

motor_status:
type: diagnostic_aggregator/GenericAnalyzer
path: motor_status
contains: [": livox_motor_status"]
timeout: 3.0
data:
type: diagnostic_aggregator/GenericAnalyzer
path: data
contains: [": gnss_data"]
timeout: 3.0

# pps_signal:
# type: diagnostic_aggregator/GenericAnalyzer
# path: pps_signal
# contains: [": livox_pps_signal"]
# timeout: 3.0
antenna:
type: diagnostic_aggregator/GenericAnalyzer
path: antenna
contains: [": gnss_antenna"]
timeout: 3.0

# ptp_signal:
# type: diagnostic_aggregator/GenericAnalyzer
# path: ptp_signal
# contains: [": livox_ptp_signal"]
# timeout: 3.0
tx_usage:
type: diagnostic_aggregator/GenericAnalyzer
path: tx_usage
contains: [": gnss_tx_usage"]
timeout: 3.0

service_life:
type: diagnostic_aggregator/GenericAnalyzer
path: service_life
contains: [": livox_service_life"]
timeout: 3.0
spoofing:
type: diagnostic_aggregator/GenericAnalyzer
path: spoofing
contains: [": gnss_spoofing"]
timeout: 3.0

temperature:
type: diagnostic_aggregator/GenericAnalyzer
path: temperature
contains: [": livox_temperature"]
timeout: 3.0
jamming:
type: diagnostic_aggregator/GenericAnalyzer
path: jamming
contains: [": gnss_jamming"]
timeout: 3.0

# time_sync:
# type: diagnostic_aggregator/GenericAnalyzer
# path: time_sync
# contains: [": livox_time_sync"]
# timeout: 3.0
fix_topic_status:
type: diagnostic_aggregator/GenericAnalyzer
path: fix_topic_status
contains: [": fix topic status"]
timeout: 3.0

imu:
type: diagnostic_aggregator/AnalyzerGroup
Expand Down
23 changes: 15 additions & 8 deletions aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -12,19 +12,26 @@
/**:
ros__parameters:
required_diags:
# gnss
gnss_connection: default
gnss_data: default
gnss_antenna: default
gnss_tx_usage: default
gnss_spoofing: default
gnss_jamming: default
fix topic status: default

# pandar
pandar_connection: default
pandar_temperature: default
pandar_ptp: default

# velodyne
velodyne_connection: default
velodyne_temperature: default
velodyne_rpm: default

# livox
livox_connection: default
livox_fan_status: default
livox_firmware_status: default
livox_internal_voltage: default
livox_motor_status: default
livox_service_life: default
livox_temperature: default
sensing_topic_status: default

# imu
gyro_bias_estimator: default
20 changes: 0 additions & 20 deletions aip_x1_launch/data/traffic_light_camera.yaml
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24 changes: 0 additions & 24 deletions aip_x1_launch/launch/camera.launch.xml
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