From ac0c10141ab2aca1ae505e0a2a44d846b2145feb Mon Sep 17 00:00:00 2001
From: YuxuanLiuTier4Desktop <619684051@qq.com>
Date: Fri, 20 Dec 2024 12:13:03 +0900
Subject: [PATCH] fix(xx1_gen2_des): add frame_id for certain sensors to
 restore the original look

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>
---
 aip_xx1_gen2_description/config/sensor_kit_calibration.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
index a0d91928..d6025d6f 100644
--- a/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_gen2_description/config/sensor_kit_calibration.yaml
@@ -103,6 +103,7 @@ sensor_kit_base_link:
     pitch: 0.0 # Design Value
     yaw: 3.14159265359 # Design Value
     type: pandar_xt32
+    frame_id: hesai_side_left
   hesai_right_base_link:
     x: 0.0 # Design Value
     y: -0.564 # Design Value
@@ -111,6 +112,7 @@ sensor_kit_base_link:
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
     type: pandar_xt32
+    frame_id: hesai_side_right
   gnss_link:
     x: -0.279 # Design Value
     y: 0.0 # Design Value
@@ -119,6 +121,7 @@ sensor_kit_base_link:
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
     type: imu
+    frame_id: gnss
   tamagawa/imu_link:
     x: -0.129 # Design Value
     y: 0.0 # Design Value
@@ -127,3 +130,4 @@ sensor_kit_base_link:
     pitch: 0.0 # Design Value
     yaw: 3.14159265359 # Design Value
     type: imu
+    frame_id: tamagawa/imu