Psimで使えるように

Signed-off-by: Mamoru Sobue <[email protected]>
tier4 · Jan 10, 2025 · 375b99e · 375b99e
1 parent e7f1a5c
commit 375b99e
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diff --git a/aip_x2_description/urdf/front_unit.xacro b/aip_x2_description/urdf/front_unit.xacro
@@ -23,23 +23,6 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/front_unit_calibration.yaml')}"/>
 
-    <!-- camera -->
-    <xacro:monocular_camera_macro
-      name="camera6/camera"
-      parent="front_unit_base_link"
-      namespace=""
-      x="${calibration['front_unit_base_link']['camera6/camera_link']['x']}"
-      y="${calibration['front_unit_base_link']['camera6/camera_link']['y']}"
-      z="${calibration['front_unit_base_link']['camera6/camera_link']['z']}"
-      roll="${calibration['front_unit_base_link']['camera6/camera_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['camera6/camera_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['camera6/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
     <!-- lidar -->
     <xacro:Pandar40P
       name="pandar_40p_front"
@@ -63,39 +46,5 @@
       yaw="${calibration['front_unit_base_link']['pandar_qt_front_base_link']['yaw']}"
     />
 
-    <!-- radar -->
-    <xacro:radar_macro
-      name="front_center/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_center/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_center/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_center/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_center/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_center/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_center/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="front_left/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_left/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_left/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_left/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_left/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_left/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_left/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="front_right/radar_link"
-      parent="front_unit_base_link"
-      x="${calibration['front_unit_base_link']['front_right/radar_link']['x']}"
-      y="${calibration['front_unit_base_link']['front_right/radar_link']['y']}"
-      z="${calibration['front_unit_base_link']['front_right/radar_link']['z']}"
-      roll="${calibration['front_unit_base_link']['front_right/radar_link']['roll']}"
-      pitch="${calibration['front_unit_base_link']['front_right/radar_link']['pitch']}"
-      yaw="${calibration['front_unit_base_link']['front_right/radar_link']['yaw']}"
-    />
-
   </xacro:macro>
 </robot>
diff --git a/aip_x2_description/urdf/rear_unit.xacro b/aip_x2_description/urdf/rear_unit.xacro
@@ -63,39 +63,5 @@
       yaw="${calibration['rear_unit_base_link']['pandar_qt_rear_base_link']['yaw']}"
     />
 
-    <!-- radar -->
-    <xacro:radar_macro
-      name="rear_center/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_center/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_center/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_center/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_center/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_center/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_center/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="rear_left/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_left/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_left/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_left/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_left/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_left/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_left/radar_link']['yaw']}"
-    />
-
-    <xacro:radar_macro
-      name="rear_right/radar_link"
-      parent="rear_unit_base_link"
-      x="${calibration['rear_unit_base_link']['rear_right/radar_link']['x']}"
-      y="${calibration['rear_unit_base_link']['rear_right/radar_link']['y']}"
-      z="${calibration['rear_unit_base_link']['rear_right/radar_link']['z']}"
-      roll="${calibration['rear_unit_base_link']['rear_right/radar_link']['roll']}"
-      pitch="${calibration['rear_unit_base_link']['rear_right/radar_link']['pitch']}"
-      yaw="${calibration['rear_unit_base_link']['rear_right/radar_link']['yaw']}"
-    />
-
   </xacro:macro>
 </robot>
diff --git a/aip_x2_description/urdf/sensors.xacro b/aip_x2_description/urdf/sensors.xacro
@@ -40,20 +40,6 @@
     yaw="${calibration['base_link']['rear_unit_base_link']['yaw']}"
   />
 
-  <!-- gnss -->
-  <xacro:imu_macro
-    name="gnss"
-    parent="base_link"
-    namespace=""
-    x="${calibration['base_link']['gnss_link']['x']}"
-    y="${calibration['base_link']['gnss_link']['y']}"
-    z="${calibration['base_link']['gnss_link']['z']}"
-    roll="${calibration['base_link']['gnss_link']['roll']}"
-    pitch="${calibration['base_link']['gnss_link']['pitch']}"
-    yaw="${calibration['base_link']['gnss_link']['yaw']}"
-    fps="100"
-  />
-
   <!-- radar -->
   <xacro:imu_macro
     name="ars408_front"

diff --git a/aip_x2_description/urdf/top_unit.xacro b/aip_x2_description/urdf/top_unit.xacro
@@ -70,24 +70,6 @@
       yaw="${calibration['top_unit_base_link']['pandar_qt_right_base_link']['yaw']}"
     />
 
-    <!-- camera -->
-    <!-- TLR -->
-    <xacro:monocular_camera_macro
-      name="camera7/camera"
-      parent="top_unit_base_link"
-      namespace=""
-      x="${calibration['top_unit_base_link']['camera7/camera_link']['x']}"
-      y="${calibration['top_unit_base_link']['camera7/camera_link']['y']}"
-      z="${calibration['top_unit_base_link']['camera7/camera_link']['z']}"
-      roll="${calibration['top_unit_base_link']['camera7/camera_link']['roll']}"
-      pitch="${calibration['top_unit_base_link']['camera7/camera_link']['pitch']}"
-      yaw="${calibration['top_unit_base_link']['camera7/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-
     <!-- BFS1(F) -->
     <xacro:monocular_camera_macro
       name="camera0/camera"