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aip_x2_gen2_description/config/sensor_kit_calibration.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,173 +1,173 @@ | ||
| 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 | ||
| 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 | ||
| x: 0.0 ##### | ||
| y: -0.029 ##### | ||
| z: -0.264 ##### | ||
| 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] | ||
| x: 0.128 ##### | ||
| y: -0.0201 ##### | ||
| z: -0.1560 ##### | ||
| 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] | ||
| x: -0.128 ##### | ||
| y: -0.0201 ##### | ||
| z: -0.156 ##### | ||
| 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] | ||
| x: 0.0 ##### | ||
| y: -0.0 ##### | ||
| z: -0.401 ##### | ||
| 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 | ||
| x: 0.0 ##### | ||
| y: -2.440 ##### | ||
| 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 | ||
| x: 0.0 ##### | ||
| y: -2.411 ##### | ||
| z: -0.264 ##### | ||
| 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] | ||
| x: 0.128 ##### | ||
| y: -2.46 ##### | ||
| z: -0.156 ##### | ||
| 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] | ||
| x: -0.128 ##### | ||
| y: -2.46 ##### | ||
| z: -0.156 ##### | ||
| 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] | ||
| x: 0.0 ##### | ||
| y: -2.44 ##### | ||
| z: -0.401 ##### | ||
| 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 | ||
| x: 0.4124 ##### | ||
| y: -1.1448 ##### | ||
| z: -0.3098 ##### | ||
| 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 | ||
| x: 0.4124 ##### | ||
| y: -1.2839 ##### | ||
| z: -0.3098 ##### | ||
| 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 | ||
| x: 0.7266 ##### | ||
| y: -1.2577 ##### | ||
| z: -0.3275 ##### | ||
| roll: 0.0 ##### | ||
| pitch: 0.9075 # 52 [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 | ||
| x: 0.746 ##### | ||
| y: -1.3331 ##### | ||
| z: -0.271 ##### | ||
| 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 | ||
| x: 0.746 ##### | ||
| y: -1.1823 ##### | ||
| z: -0.271 ##### | ||
| 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 | ||
| x: 0.746 ##### | ||
| y: -1.1069 ##### | ||
| z: -0.271 ##### | ||
| 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 | ||
| x: 0.0167 ##### | ||
| y: -1.220 ##### | ||
| z: -0.0193 ##### | ||
| 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 | ||
| x: -10.086 ##### | ||
| y: -1.3399 ##### | ||
| z: -0.329 ##### | ||
| roll: 0.0 ##### | ||
| pitch: 0.933278 # 53.50 [deg] ##### | ||
| 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 | ||
| x: -7.3618 ##### | ||
| y: -1.220 ##### | ||
| z: -0.0193 ##### | ||
| 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 | ||
| x: 1.0411 ##### | ||
| y: -1.220 ##### | ||
| z: -2.4572 ##### | ||
| 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 | ||
| x: 1.0141 ##### | ||
| y: -1.220 ##### | ||
| z: -2.6913 ##### | ||
| 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 | ||
| x: -10.1440 ##### | ||
| y: -1.220 ##### | ||
| z: -0.16 ##### | ||
| 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 | ||
| x: -10.1190 ##### | ||
| y: -1.220 ##### | ||
| z: -0.275 ##### | ||
| roll: 0.6981 # 40[deg] | ||
| pitch: 0.0 | ||
| yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle | ||
| pitch: 0.0 ##### | ||
| yaw: -1.570796 # 90 [deg] to turn the connector toward the vehicle ##### |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,57 +1,57 @@ | ||
| base_link: | ||
| sensor_kit_base_link: | ||
| x: 4.66244 | ||
| y: 1.07589 | ||
| z: 2.78926 | ||
| x: 7.3618 | ||
| y: 1.2200 | ||
| z: 3.1790 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
|
|
||
| # radar | ||
| front_center/radar_link: | ||
| x: 5.69207 | ||
| x: 8.4640 | ||
| y: 0.0 | ||
| z: 0.78894 | ||
| z: 0.6398 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 0.0 | ||
|
|
||
| front_left/radar_link: | ||
| x: 5.37204 | ||
| y: 1.08537 | ||
| z: 0.73431 | ||
| x: 8.0452 | ||
| y: 1.2444 | ||
| z: 0.5947 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 1.2211 # 70 [deg] | ||
|
|
||
| front_right/radar_link: | ||
| x: 5.37204 | ||
| y: -1.06642 | ||
| z: 0.73431 | ||
| x: 8.0452 | ||
| y: -1.2444 | ||
| z: 0.5947 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: -1.2211 # 70 [deg] | ||
|
|
||
| rear_center/radar_link: | ||
| x: -1.50704 | ||
| x: -2.7802 | ||
| y: 0.0 | ||
| z: 0.78894 | ||
| z: 0.8283 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 3.141592 # 180 [deg] | ||
|
|
||
| rear_left/radar_link: | ||
| x: -1.27564 | ||
| y: 1.07767 | ||
| z: 0.5487 | ||
| x: -2.5859 | ||
| y: 1.2417 | ||
| z: 0.7591 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: 1.9189 # 110 [deg] | ||
|
|
||
| rear_right/radar_link: | ||
| x: -1.27564 | ||
| y: -1.07768 | ||
| z: 0.5487 | ||
| x: -2.5859 | ||
| y: -1.2417 | ||
| z: 0.7591 | ||
| roll: 0.0 | ||
| pitch: 0.0 | ||
| yaw: -1.9189 # 110 [deg] |
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