feat: add sensorkit swtching (#57)

* feat: add sensor kit change for simulation * chore: add ignore and pre-commit fix * chore: aichallenge/workspace/.gitignore Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix: add simulation arg --------- Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
AutomotiveAIChallenge · Sep 4, 2024 · 5118ae5 · 5118ae5
1 parent 8a870bb
commit 5118ae5
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Showing 6 changed files with 29 additions and 6 deletions.
diff --git a/...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml b/...ace/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
@@ -4,13 +4,15 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="launch_vehicle_interface" default="false"/>
   <arg name="sensor_model" default="racing_kart_sensor_kit"/>
+  <arg name="simulation" default="true"/>
   <log message="echo launch param use_sim_time: $(var use_sim_time) launch_vehicle_interface: $(var launch_vehicle_interface) sensor_model: $(var sensor_model)"/>
 
   <include file="$(find-pkg-share aichallenge_submit_launch)/launch/reference.launch.xml" >
     <arg name="vehicle_model" value="racing_kart"/>
     <arg name="sensor_model" value="$(var sensor_model)"/>
     <arg name="map_path" value="$(find-pkg-share aichallenge_submit_launch)/map"/>
     <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    <arg name="simulation" value="$(var simulation)"/>
     <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
   </include>
 

diff --git a/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml b/...ge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
@@ -6,6 +6,7 @@
   <arg name="map_path" default="/aichallenge/mapfile"/>
   <arg name="vehicle_model" default="racing_kart"  description="vehicle model name"/>
   <arg name="sensor_model" description="sensor model name"/>
+  <arg name="simulation" description="used for sensor kit param"/>
 
   <!-- Optional parameters -->
   <!-- Map -->
@@ -29,7 +30,7 @@
     <arg name="model_file" default="$(find-pkg-share tier4_vehicle_launch)/urdf/vehicle.xacro" description="path to the file of model settings (*.xacro)"/>
     <arg name="config_dir" default="$(find-pkg-share racing_kart_sensor_kit_description)/config"/>
     <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
-      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir)' 'warn')"/>
+      <param name="robot_description" value="$(command 'xacro $(var model_file) vehicle_model:=$(var vehicle_model) sensor_model:=$(var sensor_model) config_dir:=$(var config_dir) simulation:=$(var simulation)' 'warn')"/>
     </node>
   </group>
 

diff --git a/...llenge_submit/racing_kart_sensor_kit_description/config/awsim_sensor_kit_calibration.yaml b/...llenge_submit/racing_kart_sensor_kit_description/config/awsim_sensor_kit_calibration.yaml
@@ -0,0 +1,15 @@
+sensor_kit_base_link:
+  gnss_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  imu_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
diff --git a/.../aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml b/.../aichallenge_submit/racing_kart_sensor_kit_description/config/sensor_kit_calibration.yaml
@@ -1,15 +1,15 @@
 sensor_kit_base_link:
   gnss_link:
-    x: 0.0
+    x: -0.26
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
   imu_link:
-    x: 0.0
+    x: 0.85
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
+    yaw: -1.5707963268
diff --git a/...workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/urdf/sensor_kit.xacro b/...workspace/src/aichallenge_submit/racing_kart_sensor_kit_description/urdf/sensor_kit.xacro
@@ -5,6 +5,7 @@
 
     <xacro:arg name="gpu" default="false"/>
     <xacro:arg name="config_dir" default="$(find racing_kart_sensor_kit_description)/config"/>
+    <xacro:arg name="simulation" default="false"/>
 
     <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
 
@@ -18,8 +19,11 @@
     </link>
 
     <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
-
+    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>   
+    <!-- over write calibration file for simulation -->
+    <xacro:if value="$(arg simulation)">
+      <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/awsim_sensor_kit_calibration.yaml')}"/>    
+    </xacro:if>
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"

diff --git a/...ace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml b/...ace/src/aichallenge_system/aichallenge_system_launch/launch/aichallenge_system.launch.xml
@@ -13,6 +13,7 @@
         <arg name="sensor_model" value="$(var sensor_model)"/>
         <arg name="use_sim_time" value="$(var use_sim_time)"/>
         <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+        <arg name="simulation" value="$(var simulation)"/>
     </include>
 
     <!-- Workaround because the simulator cannot use the service. -->