From 54545a38124abef1b5a0a0c49a171771bce6bd2b Mon Sep 17 00:00:00 2001
From: YuxuanLiuTier4Desktop <619684051@qq.com>
Date: Thu, 19 Dec 2024 15:54:54 +0900
Subject: [PATCH] aip_xx1_gen2 example

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>
---
 aip_xx1_gen2_description/CMakeLists.txt       |   1 +
 .../config/sensor_kit_calibration.yaml        |  16 ++
 .../config/sensors_calibration.yaml           |   9 +
 aip_xx1_gen2_description/package.xml          |   1 +
 aip_xx1_gen2_description/urdf/.gitignore      |   1 +
 .../urdf/sensor_kit.xacro                     | 253 ------------------
 aip_xx1_gen2_description/urdf/sensors.xacro   | 103 -------
 7 files changed, 28 insertions(+), 356 deletions(-)
 create mode 100644 aip_xx1_gen2_description/urdf/.gitignore
 delete mode 100644 aip_xx1_gen2_description/urdf/sensor_kit.xacro
 delete mode 100644 aip_xx1_gen2_description/urdf/sensors.xacro

diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
index 00fbf1b7..782df039 100644
--- 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
index 88288533..a0d91928 100644
--- a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -6,6 +6,7 @@ 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
@@ -13,6 +14,7 @@ sensor_kit_base_link:
     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
@@ -20,6 +22,7 @@ sensor_kit_base_link:
     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
@@ -27,6 +30,7 @@ sensor_kit_base_link:
     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
@@ -34,6 +38,7 @@ sensor_kit_base_link:
     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
@@ -41,6 +46,7 @@ sensor_kit_base_link:
     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
@@ -48,6 +54,7 @@ sensor_kit_base_link:
     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
@@ -55,6 +62,7 @@ sensor_kit_base_link:
     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
@@ -62,6 +70,7 @@ sensor_kit_base_link:
     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
@@ -69,6 +78,7 @@ sensor_kit_base_link:
     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
@@ -76,6 +86,7 @@ sensor_kit_base_link:
     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
@@ -83,6 +94,7 @@ sensor_kit_base_link:
     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
@@ -90,6 +102,7 @@ sensor_kit_base_link:
     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
@@ -97,6 +110,7 @@ sensor_kit_base_link:
     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
@@ -104,6 +118,7 @@ sensor_kit_base_link:
     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
@@ -111,3 +126,4 @@ sensor_kit_base_link:
     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
index a57d3ea9..4fb70f70 100644
--- a/aip_xx1_gen2_description/config/sensors_calibration.yaml
+++ b/aip_xx1_gen2_description/config/sensors_calibration.yaml
@@ -6,6 +6,7 @@ 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
@@ -13,6 +14,7 @@ base_link:
     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
@@ -20,6 +22,7 @@ base_link:
     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
@@ -34,6 +37,7 @@ 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
@@ -41,6 +45,7 @@ base_link:
     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
@@ -48,6 +53,7 @@ base_link:
     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
@@ -55,6 +61,7 @@ base_link:
     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
@@ -62,6 +69,7 @@ base_link:
     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
@@ -69,3 +77,4 @@ base_link:
     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
index e1f2774f..94c8410c 100644
--- 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
new file mode 100644
index 00000000..e1e98315
--- /dev/null
+++ b/aip_xx1_gen2_description/urdf/.gitignore
@@ -0,0 +1 @@
+*.xacro
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
deleted file mode 100644
index 137b3589..00000000
--- a/aip_xx1_gen2_description/urdf/sensor_kit.xacro
+++ /dev/null
@@ -1,253 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-    <xacro:include filename="$(find pandar_description)/urdf/pandar_ot128.xacro"/>
-    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-    <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
-    <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
-
-    <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
-    <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
-
-    <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
-
-    <joint name="${sensor_kit_base_link}_joint" type="fixed">
-      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
-      <parent link="${parent}"/>
-      <child link="${sensor_kit_base_link}"/>
-    </joint>
-    <link name="${sensor_kit_base_link}">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </link>
-
-    <!-- sensor -->
-    <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
-    <!-- lidar -->
-    <xacro:PandarOT-128
-      name="hesai_top"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_top_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_top_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_top_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_top_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_top_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_right"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_right_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_right_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_right_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_right_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_right_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
-    />
-    <xacro:PandarXT-32
-      name="hesai_side_left"
-      parent="sensor_kit_base_link"
-      x="${calibration['sensor_kit_base_link']['hesai_left_base_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['hesai_left_base_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['hesai_left_base_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['hesai_left_base_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['hesai_left_base_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
-    />
-
-    <!-- camera -->
-    <xacro:monocular_camera_macro
-      name="camera0/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera1/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera2/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera3/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera4/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera5/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera6/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera6/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera6/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera6/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera6/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera6/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera6/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera7/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera7/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera7/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera7/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera7/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera7/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera7/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera8/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera8/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera8/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera8/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera8/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera8/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera8/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera9/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera9/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera9/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera9/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera9/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera9/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera9/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <xacro:monocular_camera_macro
-      name="camera10/camera"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['camera10/camera_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['camera10/camera_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['camera10/camera_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['camera10/camera_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['camera10/camera_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
-      fps="30"
-      width="800"
-      height="400"
-      fov="1.3"
-    />
-    <!-- gnss -->
-    <xacro:imu_macro
-      name="gnss"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
-      fps="100"
-    />
-    <!-- imu -->
-    <xacro:imu_macro
-      name="tamagawa/imu"
-      parent="sensor_kit_base_link"
-      namespace=""
-      x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
-      y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
-      z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
-      roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
-      pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
-      yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
-      fps="100"
-    />
-  </xacro:macro>
-
-</robot>
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
deleted file mode 100644
index 79c2c15f..00000000
--- a/aip_xx1_gen2_description/urdf/sensors.xacro
+++ /dev/null
@@ -1,103 +0,0 @@
-<?xml version="1.0"?>
-<robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
-  <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
-
-  <!-- sensor kit -->
-  <xacro:include filename="sensor_kit.xacro"/>
-  <xacro:sensor_kit_macro
-    parent="base_link"
-    x="${calibration['base_link']['sensor_kit_base_link']['x']}"
-    y="${calibration['base_link']['sensor_kit_base_link']['y']}"
-    z="${calibration['base_link']['sensor_kit_base_link']['z']}"
-    roll="${calibration['base_link']['sensor_kit_base_link']['roll']}"
-    pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
-    yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
-  />
-  <!-- embedded lidar sensors -->
-  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
-  <xacro:PandarXT-32
-    name="hesai_front_left"
-    parent="base_link"
-    x="${calibration['base_link']['hesai_front_left_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_left_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
-  />
-  <xacro:PandarXT-32
-    name="hesai_front_right"
-    parent="base_link"
-    x="${calibration['base_link']['hesai_front_right_base_link']['x']}"
-    y="${calibration['base_link']['hesai_front_right_base_link']['y']}"
-    z="${calibration['base_link']['hesai_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['hesai_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['hesai_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['hesai_front_right_base_link']['yaw']}"
-  />
-
-  <!-- embedded radar sensors -->
-  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
-  <xacro:radar_macro
-    name="front_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_center/radar_link']['x']}"
-    y="${calibration['base_link']['front_center/radar_link']['y']}"
-    z="${calibration['base_link']['front_center/radar_link']['z']}"
-    roll="${calibration['base_link']['front_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_right/radar_link']['x']}"
-    y="${calibration['base_link']['front_right/radar_link']['y']}"
-    z="${calibration['base_link']['front_right/radar_link']['z']}"
-    roll="${calibration['base_link']['front_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="front_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['front_left/radar_link']['x']}"
-    y="${calibration['base_link']['front_left/radar_link']['y']}"
-    z="${calibration['base_link']['front_left/radar_link']['z']}"
-    roll="${calibration['base_link']['front_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['front_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['front_left/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_center/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_center/radar_link']['x']}"
-    y="${calibration['base_link']['rear_center/radar_link']['y']}"
-    z="${calibration['base_link']['rear_center/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_center/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_center/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_center/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_right/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_right/radar_link']['x']}"
-    y="${calibration['base_link']['rear_right/radar_link']['y']}"
-    z="${calibration['base_link']['rear_right/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_right/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_right/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_right/radar_link']['yaw']}"
-  />
-  <xacro:radar_macro
-    name="rear_left/radar_link"
-    parent="base_link"
-    x="${calibration['base_link']['rear_left/radar_link']['x']}"
-    y="${calibration['base_link']['rear_left/radar_link']['y']}"
-    z="${calibration['base_link']['rear_left/radar_link']['z']}"
-    roll="${calibration['base_link']['rear_left/radar_link']['roll']}"
-    pitch="${calibration['base_link']['rear_left/radar_link']['pitch']}"
-    yaw="${calibration['base_link']['rear_left/radar_link']['yaw']}"
-  />
-</robot>