-
Notifications
You must be signed in to change notification settings - Fork 16
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Yukihiro Saito <[email protected]>
- Loading branch information
1 parent
6c5840e
commit 606ec89
Showing
5 changed files
with
312 additions
and
214 deletions.
There are no files selected for viewing
181 changes: 101 additions & 80 deletions
181
aip_xx1_description/config/sensor_kit_calibration.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,92 +1,113 @@ | ||
| sensor_kit_base_link: | ||
| camera0/camera_link: | ||
| x: 0.10731 | ||
| y: 0.56343 | ||
| z: -0.27697 | ||
| roll: -0.025 | ||
| pitch: 0.315 | ||
| yaw: 1.035 | ||
| x: 0.372 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: -0.207 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| camera1/camera_link: | ||
| x: -0.10731 | ||
| y: -0.56343 | ||
| z: -0.27697 | ||
| roll: -0.025 | ||
| pitch: 0.32 | ||
| yaw: -2.12 | ||
| 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 | ||
| camera2/camera_link: | ||
| x: 0.10731 | ||
| y: -0.56343 | ||
| z: -0.27697 | ||
| roll: -0.00 | ||
| pitch: 0.335 | ||
| yaw: -1.04 | ||
| 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 | ||
| camera3/camera_link: | ||
| x: -0.10731 | ||
| y: 0.56343 | ||
| z: -0.27697 | ||
| roll: 0.0 | ||
| pitch: 0.325 | ||
| yaw: 2.0943951 | ||
| 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 | ||
| camera4/camera_link: | ||
| x: 0.07356 | ||
| y: 0.0 | ||
| z: -0.0525 | ||
| roll: 0.0 | ||
| pitch: -0.03 | ||
| yaw: -0.005 | ||
| 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 | ||
| camera5/camera_link: | ||
| x: -0.07356 | ||
| y: 0.0 | ||
| z: -0.0525 | ||
| roll: 0.0 | ||
| pitch: -0.01 | ||
| yaw: 3.125 | ||
| 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 | ||
| camera6/camera_link: | ||
| x: 0.05 | ||
| y: 0.0175 | ||
| z: -0.1 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
| 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 | ||
| camera7/camera_link: | ||
| x: 0.05 | ||
| y: -0.0175 | ||
| z: -0.1 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
| velodyne_top_base_link: | ||
| x: 0.0 | ||
| y: 0.0 | ||
| z: 0.0 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 1.575 | ||
| velodyne_left_base_link: | ||
| x: 0.0 | ||
| y: 0.56362 | ||
| z: -0.30555 | ||
| roll: -0.02 | ||
| pitch: 0.71 | ||
| yaw: 1.575 | ||
| velodyne_right_base_link: | ||
| x: 0.0 | ||
| y: -0.56362 | ||
| z: -0.30555 | ||
| roll: -0.01 | ||
| pitch: 0.71 | ||
| yaw: -1.580 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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: -0.349066 # Design Value | ||
| hesai_left_base_link: | ||
| x: 0.0 # Design Value | ||
| y: 0.564 # Design Value | ||
| z: -0.300 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.872665 # Design Value | ||
| yaw: 1.5708 # Design Value | ||
| hesai_right_base_link: | ||
| x: 0.0 # Design Value | ||
| y: -0.564 # Design Value | ||
| z: -0.300 # Design Value | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.872665 # Design Value | ||
| yaw: -1.5708 # Design Value | ||
| gnss_link: | ||
| x: -0.1 | ||
| y: 0.0 | ||
| z: -0.2 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
| 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 | ||
| tamagawa/imu_link: | ||
| x: 0.0 | ||
| y: 0.0 | ||
| z: 0.0 | ||
| x: -0.129 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: -0.160 # Design Value | ||
| roll: 3.14159265359 | ||
| pitch: 0.0 | ||
| yaw: 3.14159265359 | ||
| pitch: 0.0 # Design Value | ||
| yaw: 3.14159265359 # Design Value |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,36 +1,71 @@ | ||
| base_link: | ||
| ars408_front_center: | ||
| x: 3.8 | ||
| y: 0.0 | ||
| z: 0.5 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
| sensor_kit_base_link: | ||
| x: 0.9 | ||
| y: 0.0 | ||
| z: 2.0 | ||
| roll: -0.001 | ||
| pitch: 0.015 | ||
| yaw: -0.0364 | ||
| livox_front_right_base_link: | ||
| x: 3.290 | ||
| y: -0.65485 | ||
| z: 0.3216 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: -0.872664444 | ||
| livox_front_left_base_link: | ||
| x: 3.290 | ||
| y: 0.65485 | ||
| z: 0.3016 | ||
| roll: -0.021 | ||
| pitch: 0.05 | ||
| yaw: 0.872664444 | ||
| yaw: 0.0 | ||
| 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: -0.872665 # Design Value | ||
| 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: 0.872665 # Design Value | ||
| velodyne_rear_base_link: | ||
| x: -0.358 | ||
| y: 0.0 | ||
| z: 1.631 | ||
| roll: -0.02 | ||
| pitch: 0.7281317 | ||
| yaw: 3.141592 | ||
| ars548_front_center_base_link: | ||
| x: 3.520 # Design Value | ||
| y: 0.0 # Design Value | ||
| z: 0.6352 | ||
| roll: 0.0 # Design Value | ||
| pitch: 0.0 # Design Value | ||
| yaw: 0.0 # Design Value | ||
| ars548_front_right_base_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 | ||
| ars548_front_left_base_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 | ||
| ars548_back_center_base_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 | ||
| ars548_back_right_base_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 | ||
| ars548_back_left_base_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 |
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.