aip_xx1_gen2 example

Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
tier4 · Dec 20, 2024 · 54545a3 · 54545a3
1 parent 72f01ec
commit 54545a3
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Showing 7 changed files with 28 additions and 356 deletions.
diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(aip_xx1_gen2_description)
 
 find_package(ament_cmake_auto REQUIRED)
+find_package(aip_urdf_compiler REQUIRED)
 
 ament_auto_find_build_dependencies()
 

diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -6,108 +6,124 @@ sensor_kit_base_link:
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: monocular_camera
   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
+    type: pandar_ot128
   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
+    type: pandar_xt32
   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
+    type: pandar_xt32
   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
+    type: imu
   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
+    type: imu
diff --git a/aip_xx1_gen2_description/config/sensors_calibration.yaml b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -6,20 +6,23 @@ base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
+    type: units
   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
+    type: pandar_xt32
   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
+    type: pandar_xt32
   # velodyne_rear_base_link: #unused
   #   x: -0.358
   #   y: 0.0
@@ -34,38 +37,44 @@ base_link:
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
+    type: radar
   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
+    type: radar
   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
+    type: radar
   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
+    type: radar
   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
+    type: radar
   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
+    type: radar
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
@@ -11,6 +11,7 @@
 
   <depend>aip_urdf_compiler</depend>
   <depend>velodyne_description</depend>
+  <depend>aip_urdf_compiler</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/aip_xx1_gen2_description/urdf/.gitignore b/aip_xx1_gen2_description/urdf/.gitignore
@@ -0,0 +1 @@
+*.xacro