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feat(aip_xx1_description): update for xx1 gen2 (#210)
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* update for xx1 gen2

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* set network configs

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* use angle param
add OT128 launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* set lidar horizontal FOV angle

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* update settings

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* update

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* add OT128 launch

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

* add ptp param

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

* complete to write lidar settings

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

* ci(pre-commit): autofix

* chore: generalized radar names

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat(aip_xx1_description): update side lidar name

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

* feat(aip_xx1_launch): enable imu in adm ecus

Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>

* change concate lidars

* update for xx1 gen2

* rotate top lidar 180

* change imu_corrector param aip_x2 -> aip_xx1

* enable gnss

* fix wrong urdf model for OT128

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* change max_range

* feat: added the radars to the aip launcher and description

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>

* add nebula argments

* fix: fixed naming and enabled the radars

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* fix pointcloud preprocess for multi_lidar_ogm

* feat: enable radar launch and concatenation for all lidars

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>

* fix(hesai_xt32): update ptp_transport_type from l2 to udp for xt32

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>

* feat: added an option to select the frame of the radar objects

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: add ptp_switch_type to support latest nebula at 2024/03/15 (#222)

Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp>

* feat: add radar feature

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix: revert commenting out of radar.launch.xml

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* add new folders

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* ci(pre-commit): autofix

* add folders for description

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* ci(pre-commit): autofix

* fix Spell-check

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* fix package name

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* fix: recover radar.xacro to make gen1 operational

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

* ci(pre-commit): autofix

* update aip_xx1 for gen2

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

* fix: packages name is aip_xx1_gen2_* but in these files written as aip_xx1_*

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

---------

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
Signed-off-by: yuki.takagi@car_8 <yuki.takagi@tier4.jp>
Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Signed-off-by: j4tfwm6z <j4tfwm6z@tier4.jp>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>
Co-authored-by: Yuki Takagi <yuki.takagi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
Co-authored-by: j4tfwm6z <j4tfwm6z@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Co-authored-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
Co-authored-by: Yuxuan Liu <619684051@qq.com>
Co-authored-by: N-Eiki <eiki.nagata.2@tier4.jp>
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@yukkysaito @yuki-takagi-66
@pre-commit-ci @knzo25 @kminoda @YoshiRi @HinsRyu @Owen-Liuyuxuan @N-Eiki
11 people authored Jun 20, 2024
1 parent 4eb3378 commit d1d423d
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11 changes: 11 additions & 0 deletions aip_xx1_gen2_description/CMakeLists.txt
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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
)
113 changes: 113 additions & 0 deletions aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
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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
71 changes: 71 additions & 0 deletions aip_xx1_gen2_description/config/sensors_calibration.yaml
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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
17 changes: 17 additions & 0 deletions aip_xx1_gen2_description/package.xml
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<?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="yukihiro.saito@tier4.jp">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>
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