feat(aip_xx1_description): update for xx1 gen2

aip_xx1_gen2_description/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(aip_xx1_gen2_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)

aip_xx1_gen2_description/config/sensor_kit_calibration.yaml

@@ -0,0 +1,113 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.372 # Design Value
+    y: 0.0 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera1/camera_link:
+    x: 0.372 # Design Value
+    y: 0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera2/camera_link:
+    x: 0.372 # Design Value
+    y: -0.045 # Design Value
+    z: -0.207 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  camera3/camera_link:
+    x: 0.133 # Design Value
+    y: 0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.872665 # Design Value
+  camera4/camera_link:
+    x: 0.133 # Design Value
+    y: -0.498 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -0.872665 # Design Value
+  camera5/camera_link:
+    x: 0.095 # Design Value
+    y: 0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.0472 # Design Value
+  camera6/camera_link:
+    x: 0.095 # Design Value
+    y: -0.524 # Design Value
+    z: -0.246 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.0472 # Design Value
+  camera7/camera_link:
+    x: -0.345 # Design Value
+    y: 0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.70526 # Design Value
+  camera8/camera_link:
+    x: -0.345 # Design Value
+    y: -0.244 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.70526 # Design Value
+  camera9/camera_link:
+    x: -0.362 # Design Value
+    y: 0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.79253 # Design Value
+  camera10/camera_link:
+    x: -0.362 # Design Value
+    y: -0.202 # Design Value
+    z: -0.174 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.79253 # Design Value
+  hesai_top_base_link:
+    x: 0.0 # Design Value
+    y: 0.0 # Design Value
+    z: 0.0 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 4.36332298038 # Design Value
+  hesai_left_base_link:
+    x: 0.0 # Design Value
+    y: 0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
+  hesai_right_base_link:
+    x: 0.0 # Design Value
+    y: -0.564 # Design Value
+    z: -0.300 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  gnss_link:
+    x: -0.279 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  tamagawa/imu_link:
+    x: -0.129 # Design Value
+    y: 0.0 # Design Value
+    z: -0.160 # Design Value
+    roll: 3.14159265359
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value

aip_xx1_gen2_description/config/sensors_calibration.yaml

@@ -0,0 +1,71 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  hesai_front_left_base_link:
+    x: 3.373 # Design Value
+    y: 0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.44346132679 # Design Value
+  hesai_front_right_base_link:
+    x: 3.373 # Design Value
+    y: -0.740 # Design Value
+    z: 0.5482
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.69813132679 # Design Value
+  # velodyne_rear_base_link: #unused
+  #   x: -0.358
+  #   y: 0.0
+  #   z: 1.631
+  #   roll: -0.02
+  #   pitch: 0.7281317
+  #   yaw: 3.141592
+  front_center/radar_link:
+    x: 3.520 # Design Value
+    y: 0.0 # Design Value
+    z: 0.6352
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
+  front_right/radar_link:
+    x: 3.384 # Design Value
+    y: -0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -1.22173 # Design Value
+  front_left/radar_link:
+    x: 3.384 # Design Value
+    y: 0.7775 # Design Value
+    z: 0.410
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 1.22173 # Design Value
+  rear_center/radar_link:
+    x: -0.858 # Design Value
+    y: 0.0 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.141592 # Design Value
+  rear_right/radar_link:
+    x: -0.782 # Design Value
+    y: -0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: -2.0944 # Design Value
+  rear_left/radar_link:
+    x: -0.782 # Design Value
+    y: 0.761 # Design Value
+    z: 0.520
+    roll: 0.0 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 2.0944 # Design Value

aip_xx1_gen2_description/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_xx1_gen2_description</name>
+  <version>0.1.0</version>
+  <description>The aip_xx1_gen2_description package</description>
+
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>velodyne_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>