Beta/x2 gen2/v0.29.2

aip_x2_gen2_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(aip_x2_gen2_description)
+
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_package(INSTALL_TO_SHARE
+    urdf
+    config
+)

aip_x2_gen2_description/config/sensor_kit_calibration.yaml

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+sensor_kit_base_link:
+  # left upper
+  left_upper/lidar_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  left_lower/lidar_base_link:
+    x: 0.0
+    y: -0.025
+    z: -0.115
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  left_front/camera_link:
+    x: 0.12758
+    y: -0.04589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: 0.85478 # 49 [deg]
+  left_rear/camera_link:
+    x: -0.12842
+    y: -0.04589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: 2.2678 # 130 [deg]
+  left_center/camera_link:
+    x: 0.0
+    y: -0.04089
+    z: -0.18666
+    roll: 0.0
+    pitch: 0.933278 # 53.50 [deg]
+    yaw: 1.570796 # 90 [deg]
+
+  # right upper
+  right_upper/lidar_base_link:
+    x: 0.0
+    y: -2.15178
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0 # to turn the connector toward the vehicle
+  right_lower/lidar_base_link:
+    x: 0.0
+    y: -2.12678
+    z: -0.115
+    roll: 0.6981 # 40 [deg]
+    pitch: 0.0
+    yaw: 0.0 # to turn the connector toward the vehicle
+  right_front/camera_link:
+    x: 0.12758
+    y: -2.10589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: -0.85478 # -49 [deg]
+  right_rear/camera_link:
+    x: -0.12842
+    y: -2.10589
+    z: -0.0866
+    roll: 0.0
+    pitch: 0.08722 # 5 [deg]
+    yaw: -2.2678 # -130 [deg]
+  right_center/camera_link:
+    x: 0.0
+    y: -2.11089
+    z: -0.18666
+    roll: 0.0
+    pitch: 0.933278 # 53.50 [deg]
+    yaw: -1.570796 # -90 [deg]
+
+  # front upper
+  top_front_left/imu_link:
+    x: 0.562
+    y: -0.99974
+    z: -0.06146
+    roll: 3.141592
+    pitch: 0.0
+    yaw: 0.0
+  top_front_right/imu_link:
+    x: 0.562
+    y: -1.13974
+    z: -0.06146
+    roll: 3.141592
+    pitch: 0.0
+    yaw: 0.0
+  top_front_right/camera_link:
+    x: 0.73758
+    y: -1.26439
+    z: -0.06666
+    roll: 0.0
+    pitch: 0.8373 # 48 [deg]
+    yaw: 0.0
+  top_front_center_right/camera_link:
+    x: 0.73058
+    y: -1.18899
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front_center_left/camera_link:
+    x: 0.73058
+    y: -1.03819
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front_left/camera_link:
+    x: 0.73058
+    y: -0.96279
+    z: -0.02166
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  top_front/gnss_link:
+    x: 0.30133
+    y: -1.07589
+    z: 0.02861
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  # rear upper
+  top_rear_center/camera_link:
+    x: -6.06359
+    y: -1.20389
+    z: -0.14078
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg] to turn the connector toward the vehicle
+  top_rear/gnss_link:
+    x: -5.77517
+    y: -1.07589
+    z: 0.02861
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  # front lower
+  front_upper/lidar_base_link:
+    x: 0.94058
+    y: -1.07589
+    z: -1.91826
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+  front_lower/lidar_base_link:
+    x: 0.96758
+    y: -1.07589
+    z: -2.15234
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: 1.570796 # 90 [deg] to turn the connector toward the vehicle
+
+  # rear lower
+  rear_upper/lidar_base_link:
+    x: -6.08042
+    y: -1.07589
+    z: -1.91826
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle
+  rear_lower/lidar_base_link:
+    x: -6.10742
+    y: -1.07589
+    z: -2.15234
+    roll: 0.6981 # 40[deg]
+    pitch: 0.0
+    yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle

aip_x2_gen2_description/config/sensors_calibration.yaml

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+base_link:
+  sensor_kit_base_link:
+    x: 4.66244
+    y: 1.07589
+    z: 2.78926
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  # radar
+  front_center/radar_link:
+    x: 5.69207
+    y: 0.0
+    z: 0.78894
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+  front_left/radar_link:
+    x: 5.37204
+    y: 1.08537
+    z: 0.73431
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.2211 # 70 [deg]
+
+  front_right/radar_link:
+    x: 5.37204
+    y: -1.06642
+    z: 0.73431
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.2211 # 70 [deg]
+
+  rear_center/radar_link:
+    x: -1.50704
+    y: 0.0
+    z: 0.78894
+    roll: 0.0
+    pitch: 0.0
+    yaw: 3.141592 # 180 [deg]
+
+  rear_left/radar_link:
+    x: -1.27564
+    y: 1.07767
+    z: 0.5487
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.9189 # 110 [deg]
+
+  rear_right/radar_link:
+    x: -1.27564
+    y: -1.07768
+    z: 0.5487
+    roll: 0.0
+    pitch: 0.0
+    yaw: -1.9189 # 110 [deg]

aip_x2_gen2_description/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>aip_x2_gen2_description</name>
+  <version>0.1.0</version>
+  <description>The aip_x2_gen2_description package</description>
+
+  <maintainer email="[email protected]">Tomohito Ando</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>pandar_description</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

aip_x2_gen2_description/urdf/gnss.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="gnss_macro" params="name parent x y z roll pitch yaw">
+    <xacro:property name="sensor_box" value="0.05"/>
+
+    <joint name="${name}_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child link="${name}_link"/>
+    </joint>
+
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <box size="${sensor_box} ${sensor_box} ${sensor_box}"/>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <material name="green">
+          <color rgba="0.0 1.0 0.0 1.0"/>
+        </material>
+      </visual>
+    </link>
+  </xacro:macro>
+</robot>

aip_x2_gen2_description/urdf/radar.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="radar_macro" params="name parent x y z roll pitch yaw">
+    <xacro:property name="mass" value="0.01" />
+
+    <joint name="${name}_base_mount_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child  link="${name}"/>
+    </joint>
+
+    <link name="${name}">
+      <visual>
+        <geometry>
+          <box size="0.03 0.1 0.1"/>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <material name="black">
+          <color rgba="0.1 0.1 0.1 1.0"/>
+        </material>
+      </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <mass value="${mass}"/>
+        <inertia ixx="${(0.03*0.03+0.03*0.03)*mass/12.0}" ixy="0.0" ixz="0.0"
+                 iyy="${(0.1*0.1+0.1*0.1)*mass/12.0}" iyz="0.0"
+                 izz="${(0.1*0.1+0.1*0.1)*mass/12.0}"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+</robot>