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feat(xx1-gen2): fix sensor configuration #362

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feat(xx1-gen2): fix sensor configuration #362

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f5fa00c
use gnss orientation & add septentrio_heading_converter
Nov 29, 2024
abd40dd
set lidar config
Nov 29, 2024
c55bdda
set att_offset for septentio
Dec 3, 2024
82fb236
use odometry for radar
Dec 3, 2024
f423cb6
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 25, 2024
415f8ac
TEMP: adopt for single node nebula
Dec 5, 2024
e97c954
fix bug for radar twist/odometry topic contamination
Dec 5, 2024
4a793b5
pass min/max_range to ros_wrapper
Jan 6, 2025
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5 changes: 5 additions & 0 deletions aip_xx1_gen2_launch/CMakeLists.txt
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Expand Up @@ -14,3 +14,8 @@ ament_auto_package(INSTALL_TO_SHARE
data
config
)

install(PROGRAMS
scripts/septentrio_heading_converter.py
DESTINATION lib/${PROJECT_NAME}
)
7 changes: 2 additions & 5 deletions aip_xx1_gen2_launch/config/lidar_gen2.yaml
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Expand Up @@ -7,23 +7,20 @@ launches:
sensor_ip: 192.168.1.201
data_port: 2368
scan_phase: 160.0
vertical_bins: 128
- sensor_type: hesai_XT32
namespace: front_left
parameters:
max_range: 300.0
max_range: 80.0
sensor_frame: hesai_front_left
sensor_ip: 192.168.1.21
data_port: 2369
scan_phase: 50.0
cloud_min_angle: 50
cloud_max_angle: 320
vertical_bins: 16
horizontal_ring_id: 0
- sensor_type: hesai_XT32
namespace: front_right
parameters:
max_range: 300.0
max_range: 80.0
sensor_frame: hesai_front_right
sensor_ip: 192.168.1.22
data_port: 2370
Expand Down
4 changes: 2 additions & 2 deletions aip_xx1_gen2_launch/config/mosaic_x5_rover.param.yaml
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Expand Up @@ -27,7 +27,7 @@
datum: Default

att_offset:
heading: 0.0
heading: -90.0
pitch: 0.0

ant_type: Unknown
Expand Down Expand Up @@ -83,7 +83,7 @@
poscovcartesian: false
poscovgeodetic: true
velcovgeodetic: false
atteuler: false
atteuler: true
attcoveuler: false
pose: false
twist: false
Expand Down
39 changes: 12 additions & 27 deletions aip_xx1_gen2_launch/launch/gnss.launch.xml
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@@ -1,45 +1,30 @@
<launch>

<arg name="launch_driver" default="true" />
<arg name="gnss_receiver" default="ublox" description="ublox(default) or septentrio"/>

<group>
<push-ros-namespace namespace="gnss"/>

<!-- Switch topic name -->
<let name="navsatfix_topic_name" value="ublox/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
<let name="navpvt_topic_name" value="ublox/navpvt" if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)" />
<let name="navsatfix_topic_name" value="septentrio/nav_sat_fix" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>
<let name="navpvt_topic_name" value="septentrio/navpvt/unused" if="$(eval &quot;'$(var gnss_receiver)'=='septentrio'&quot;)"/>

<!-- Ublox Driver -->
<group if="$(eval &quot;'$(var gnss_receiver)'=='ublox'&quot;)">
<node pkg="ublox_gps" name="ublox" exec="ublox_gps_node" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
<remap from="~/fix" to="~/nav_sat_fix" />
<param from="$(find-pkg-share ublox_gps)/config/c94_f9p_rover.yaml"/>
</node>
</group>

<!-- Septentrio GNSS Driver -->
<group if="$(eval &quot;'$(var launch_driver)' and '$(var gnss_receiver)'=='septentrio'&quot;)">
<node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
<param from="$(find-pkg-share aip_xx1_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
<remap from="navsatfix" to="~/nav_sat_fix"/>
<remap from="poscovgeodetic" to="~/poscovgeodetic"/>
<remap from="pvtgeodetic" to="~/pvtgeodetic"/>
</node>
</group>
<node pkg="septentrio_gnss_driver" name="septentrio" exec="septentrio_gnss_driver_node" if="$(var launch_driver)">
<param from="$(find-pkg-share aip_xx1_gen2_launch)/config/mosaic_x5_rover.param.yaml"/>
<remap from="navsatfix" to="~/nav_sat_fix"/>
<remap from="poscovgeodetic" to="~/poscovgeodetic"/>
<remap from="pvtgeodetic" to="~/pvtgeodetic"/>
<remap from="atteuler" to="~/atteuler"/>

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</node>

<!-- Septentrio Heading Converter -->
<node pkg="aip_xx1_gen2_launch" name="septentrio_heading_converter" exec="septentrio_heading_converter.py"/>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
<arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />
<arg name="input_topic_fix" value="septentrio/nav_sat_fix" />
<arg name="input_topic_orientation" value="septentrio/orientation"/>

<arg name="output_topic_gnss_pose" value="pose" />
<arg name="output_topic_gnss_pose_cov" value="pose_with_covariance" />
<arg name="output_topic_gnss_fixed" value="fixed" />

<arg name="use_ublox_receiver" value="true" />
</include>

</group>
Expand Down
2 changes: 2 additions & 0 deletions aip_xx1_gen2_launch/launch/lidar.launch.py
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Expand Up @@ -105,6 +105,7 @@ def load_yaml(yaml_file_path):
base_parameters["enable_blockage_diag"] = LaunchConfiguration("enable_blockage_diag").perform(
context
)
base_parameters["return_mode"] = LaunchConfiguration("return_mode").perform(context)

sub_launch_actions = []
for launch in config["launches"]:
Expand Down Expand Up @@ -181,6 +182,7 @@ def add_launch_arg(name: str, default_value=None, **kwargs):
add_launch_arg("use_pointcloud_container", "false", description="launch pointcloud container")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg("enable_blockage_diag", "false")
add_launch_arg("return_mode", "Dual")

# Create launch description with the config_file argument
ld = LaunchDescription(launch_arguments)
Expand Down
156 changes: 90 additions & 66 deletions aip_xx1_gen2_launch/launch/radar.launch.xml
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Expand Up @@ -25,7 +25,8 @@
</group>

<group if="$(eval &quot;'$(var ars_version)'=='ars548'&quot;)">
<let name="odometry_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<let name="odometry_topic" value="/localization/kinematic_state"/>
<let name="twist_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<let name="acceleration_topic" value="/localization/acceleration"/>
<let name="steering_angle_topic" value="/vehicle/status/steering_status_scalar"/>
<arg name="radar_tracks_msgs_converter_param_path" default="$(find-pkg-share common_sensor_launch)/config/radar_tracks_msgs_converter.param.yaml"/>
Expand All @@ -36,9 +37,10 @@

<group>
<push-ros-namespace namespace="front_center"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -54,23 +56,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="front_left"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -86,23 +92,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="front_right"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -118,23 +128,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_center"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -150,23 +164,27 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_left"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -182,23 +200,26 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>
<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="use_twist_compensation" value="false"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<group>
<push-ros-namespace namespace="rear_right"/>
<group>
<include file="$(find-pkg-share nebula_ros)/launch/continental_launch_all_hw.xml" if="$(var launch_driver)">

<arg name="odometry_topic" value="$(var odometry_topic)"/>
<arg name="odometry_topic" value="$(var twist_topic)"/>
<arg name="acceleration_topic" value="$(var acceleration_topic)"/>
<arg name="steering_angle_topic" value="$(var steering_angle_topic)"/>

Expand All @@ -214,15 +235,18 @@
<arg name="configuration_sensor_port" value="42101"/>

<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</include>
</group>

<group>
<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
<arg name="output/radar_tracked_objects" value="tracked_objects"/>
<arg name="param_path" value="$(var radar_tracks_msgs_converter_param_path)"/>
</include>
</group>
</group>

<!-- merge radar objects -->
Expand Down
1 change: 0 additions & 1 deletion aip_xx1_gen2_launch/launch/sensing.launch.xml
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Expand Up @@ -29,7 +29,6 @@
<!-- GNSS Driver -->
<include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="gnss_receiver" value="septentrio"/>
</include>

<!-- Radar Driver -->
Expand Down
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