From 248ed1dc1b5e37820caaa5f9faa6b0228e57f09f Mon Sep 17 00:00:00 2001 From: mini01 Date: Mon, 24 Jun 2024 17:30:20 +0900 Subject: [PATCH 1/3] Set dimension of IMU for Okinawa testbed --- .../ftd_sensor_kit/sensor_kit_calibration.yaml | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml index 4ff0cbd..52e843e 100644 --- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -6,10 +6,17 @@ sensor_kit_base_link: roll: 0.0 pitch: 0.0 yaw: 0.0 +# ydlidar_front_base_link: +# x: 0.22 +# y: 0.0 +# z: -0.50 +# roll: 0.0 +# pitch: 0.0 +# yaw: 1.5708 tamagawa/imu_link: - x: 0.0 + x: -0.5q y: 0.0 - z: 0.0 - roll: 3.14159265359 + z: -0.50 + roll: 0.0 pitch: 0.0 - yaw: 3.14159265359 \ No newline at end of file + yaw: 0.0 From a74ed322f559688cf5ea1f391a57b2d6369bf22f Mon Sep 17 00:00:00 2001 From: mini01 Date: Tue, 2 Jul 2024 21:53:48 +0900 Subject: [PATCH 2/3] Changed pose of 2D LiDAR according to physical testbed --- .../sensor_kit_calibration.yaml | 20 ++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml index 52e843e..138cfd7 100644 --- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -6,15 +6,29 @@ sensor_kit_base_link: roll: 0.0 pitch: 0.0 yaw: 0.0 -# ydlidar_front_base_link: + ydlidar_front_base_link: # Okinawa testbed 20240702 + x: 0.29 + y: -0.14 + z: -0.73 + roll: -3.14159 + pitch: 0.0 + yaw: -1.5708 +# ydlidar_front_base_link: # Okinawa testbed planned # x: 0.22 # y: 0.0 # z: -0.50 # roll: 0.0 # pitch: 0.0 # yaw: 1.5708 - tamagawa/imu_link: - x: -0.5q + ydlidar_rear_base_link: # Okinawa testbed planned + x: -0.05 + y: 0.0 + z: -0.57 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + tamagawa/imu_link: # Okinawa testbed center + x: -0.5 y: 0.0 z: -0.50 roll: 0.0 From 8a82213c59ad531f6da726f79f1b161aa9da9393 Mon Sep 17 00:00:00 2001 From: mini01 Date: Wed, 3 Jul 2024 17:06:59 +0900 Subject: [PATCH 3/3] Fixed coordinate of (imaginary) rear 2D LiDAR --- .../config/default/ftd_sensor_kit/sensor_kit_calibration.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml index 138cfd7..ad3eb08 100644 --- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -21,7 +21,7 @@ sensor_kit_base_link: # pitch: 0.0 # yaw: 1.5708 ydlidar_rear_base_link: # Okinawa testbed planned - x: -0.05 + x: -1.06 y: 0.0 z: -0.57 roll: 0.0