From 606ec8981b27f54ab051d8c8e619d005beb39794 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Sat, 3 Feb 2024 22:19:58 +0900
Subject: [PATCH] update for xx1 gen2

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
---
 .../config/sensor_kit_calibration.yaml        | 181 ++++++++++--------
 .../config/sensors_calibration.yaml           |  79 +++++---
 aip_xx1_description/urdf/radar.xacro          |  31 ---
 aip_xx1_description/urdf/sensor_kit.xacro     | 130 ++++++++-----
 aip_xx1_description/urdf/sensors.xacro        | 105 +++++++---
 5 files changed, 312 insertions(+), 214 deletions(-)
 delete mode 100644 aip_xx1_description/urdf/radar.xacro

diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
index ab417b52..14c61651 100644
--- a/aip_xx1_description/config/sensor_kit_calibration.yaml
+++ b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -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
diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
index e8c4b75e..4ae5a152 100644
--- a/aip_xx1_description/config/sensors_calibration.yaml
+++ b/aip_xx1_description/config/sensors_calibration.yaml
@@ -1,32 +1,25 @@
 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
@@ -34,3 +27,45 @@ base_link:
     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
diff --git a/aip_xx1_description/urdf/radar.xacro b/aip_xx1_description/urdf/radar.xacro
deleted file mode 100644
index 8b0f8d4b..00000000
--- a/aip_xx1_description/urdf/radar.xacro
+++ /dev/null
@@ -1,31 +0,0 @@
-<?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>
diff --git a/aip_xx1_description/urdf/sensor_kit.xacro b/aip_xx1_description/urdf/sensor_kit.xacro
index ef36763f..647d70d7 100644
--- a/aip_xx1_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_description/urdf/sensor_kit.xacro
@@ -1,9 +1,8 @@
 <?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="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
+    <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-    <xacro:include filename="$(find vls_description)/urdf/VLS-128.urdf.xacro"/>
     <xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
     <xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
 
@@ -25,57 +24,37 @@
     <!-- sensor -->
     <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
     <!-- lidar -->
-    <xacro:VLS-128
-      parent="sensor_kit_base_link"
-      name="velodyne_top"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
-      />
-    </xacro:VLS-128>
-    <xacro:VLP-16
-      parent="sensor_kit_base_link"
-      name="velodyne_left"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_left_base_link']['yaw']}"
-      />
-    </xacro:VLP-16>
-    <xacro:VLP-16
-      parent="sensor_kit_base_link"
-      name="velodyne_right"
-      topic="/points_raw"
-      hz="10"
-      samples="220"
-      gpu="$(arg gpu)"
-    >
-      <origin
-        xyz="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['x']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['y']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['roll']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['pitch']}
-             ${calibration['sensor_kit_base_link']['velodyne_right_base_link']['yaw']}"
-      />
-    </xacro:VLP-16>
+    <xacro:PandarXT-32
+      name="hesai_top"
+      parent="sensor_kit_base_link"
+      x="${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="${calibration['sensor_kit_base_link']['hesai_top_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_right"
+      parent="sensor_kit_base_link"
+      x="${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="${calibration['sensor_kit_base_link']['hesai_right_base_link']['yaw']}"
+    />
+    <xacro:PandarXT-32
+      name="hesai_left"
+      parent="sensor_kit_base_link"
+      x="${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="${calibration['sensor_kit_base_link']['hesai_left_base_link']['yaw']}"
+    />
+
     <!-- camera -->
     <xacro:monocular_camera_macro
       name="camera0/camera"
@@ -197,6 +176,51 @@
       height="400"
       fov="1.3"
     />
+    <xacro:monocular_camera_macro
+      name="camera8/camera"
+      parent="sensor_kit_base_link"
+      namespace=""
+      x="${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="${calibration['sensor_kit_base_link']['camera10/camera_link']['yaw']}"
+      fps="30"
+      width="800"
+      height="400"
+      fov="1.3"
+    />
     <!-- gnss -->
     <xacro:imu_macro
       name="gnss"
diff --git a/aip_xx1_description/urdf/sensors.xacro b/aip_xx1_description/urdf/sensors.xacro
index 0484bdc3..4bff759f 100644
--- a/aip_xx1_description/urdf/sensors.xacro
+++ b/aip_xx1_description/urdf/sensors.xacro
@@ -15,7 +15,7 @@
     pitch="${calibration['base_link']['sensor_kit_base_link']['pitch']}"
     yaw="${calibration['base_link']['sensor_kit_base_link']['yaw']}"
   />
-  <!-- embedded sensors -->
+  <!-- embedded lidar sensors -->
   <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
   <xacro:VLP-16
     parent="base_link"
@@ -34,39 +34,88 @@
            ${calibration['base_link']['velodyne_rear_base_link']['yaw']}"
     />
   </xacro:VLP-16>
-  <xacro:include filename="$(find livox_description)/urdf/livox_horizon.xacro"/>
-  <xacro:livox_horizon_macro
-    name="livox_front_left"
+  <xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
+  <xacro:PandarXT-32
+    name="hesai_front_left"
     parent="base_link"
-    x="${calibration['base_link']['livox_front_left_base_link']['x']}"
-    y="${calibration['base_link']['livox_front_left_base_link']['y']}"
-    z="${calibration['base_link']['livox_front_left_base_link']['z']}"
-    roll="${calibration['base_link']['livox_front_left_base_link']['roll']}"
-    pitch="${calibration['base_link']['livox_front_left_base_link']['pitch']}"
-    yaw="${calibration['base_link']['livox_front_left_base_link']['yaw']}"
+    x="${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="${calibration['base_link']['hesai_front_left_base_link']['yaw']}"
   />
-  <xacro:livox_horizon_macro
-    name="livox_front_right"
+  <xacro:PandarXT-32
+    name="hesai_front_right"
     parent="base_link"
-    x="${calibration['base_link']['livox_front_right_base_link']['x']}"
-    y="${calibration['base_link']['livox_front_right_base_link']['y']}"
-    z="${calibration['base_link']['livox_front_right_base_link']['z']}"
-    roll="${calibration['base_link']['livox_front_right_base_link']['roll']}"
-    pitch="${calibration['base_link']['livox_front_right_base_link']['pitch']}"
-    yaw="${calibration['base_link']['livox_front_right_base_link']['yaw']}"
+    x="${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']}"
   />
 
-  <!-- radar -->
-  <xacro:include filename="$(find aip_xx1_description)/urdf/radar.xacro"/>
+  <!-- embedded radar sensors -->
+  <xacro:include filename="$(find radar_description)/urdf/radar.xacro"/>
   <xacro:radar_macro
-    name="ars408_front_center"
+    name="ars548_front_center"
     parent="base_link"
-    x="${calibration['base_link']['ars408_front_center']['x']}"
-    y="${calibration['base_link']['ars408_front_center']['y']}"
-    z="${calibration['base_link']['ars408_front_center']['z']}"
-    roll="${calibration['base_link']['ars408_front_center']['roll']}"
-    pitch="${calibration['base_link']['ars408_front_center']['pitch']}"
-    yaw="${calibration['base_link']['ars408_front_center']['yaw']}"
+    x="${calibration['base_link']['ars548_front_center_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_center_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_center_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_center_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_center_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_center_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_front_right"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_front_right_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_right_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_right_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_right_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_front_left"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_front_left_base_link']['x']}"
+    y="${calibration['base_link']['ars548_front_left_base_link']['y']}"
+    z="${calibration['base_link']['ars548_front_left_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_front_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_front_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_front_left_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_center"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_center_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_center_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_center_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_back_center_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_back_center_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_back_center_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_right"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_right_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_right_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_right_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_back_right_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_back_right_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_back_right_base_link']['yaw']}"
+  />
+  <xacro:radar_macro
+    name="ars548_back_left"
+    parent="base_link"
+    x="${calibration['base_link']['ars548_back_left_base_link']['x']}"
+    y="${calibration['base_link']['ars548_back_left_base_link']['y']}"
+    z="${calibration['base_link']['ars548_back_left_base_link']['z']}"
+    roll="${calibration['base_link']['ars548_back_left_base_link']['roll']}"
+    pitch="${calibration['base_link']['ars548_back_left_base_link']['pitch']}"
+    yaw="${calibration['base_link']['ars548_back_left_base_link']['yaw']}"
   />
-
 </robot>