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feat(extrinsic_ground_plane_calibrator): redesign, generalization, an…
…d improvement of the calibrator (#97) * Refactored/improved some parts of the ground plane calibrator and made it usable for the xx1/omiya combination Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Changing default parameters for the review * Added launchers for the x2 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Fixed typo Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Fixed typos in the launchers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Fixed one last typo Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
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sensor/extrinsic_calibration_manager/launch/aip_x2/ground_plane.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="vehicle_id" default="default"/> | ||
| <let name="sensor_model" value="aip_x2"/> | ||
| <arg name="rviz" default="false"/> | ||
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| <let name="rviz_profile" value="$(find-pkg-share extrinsic_ground_plane_calibrator)/rviz/x2.rviz"/> | ||
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| <!--2023/04/21 - Parking lot --> | ||
| <let name="use_crop_box_filter" value="true"/> | ||
| <let name="crop_box_min_x" value="-12.0"/> | ||
| <let name="crop_box_min_y" value="-12.0"/> | ||
| <let name="crop_box_min_z" value="-12.0"/> | ||
| <let name="crop_box_max_x" value="12.0"/> | ||
| <let name="crop_box_max_y" value="12.0"/> | ||
| <let name="crop_box_max_z" value="-0.5"/> | ||
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| <group> | ||
| <push-ros-namespace namespace="front_unit"/> | ||
| <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/ground_plane_front_unit.launch.xml"> | ||
| <arg name="vehicle_id" value="$(var vehicle_id)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
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| <group> | ||
| <push-ros-namespace namespace="rear_unit"/> | ||
| <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/ground_plane_rear_unit.launch.xml"> | ||
| <arg name="vehicle_id" value="$(var vehicle_id)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
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| <group> | ||
| <push-ros-namespace namespace="top_unit"/> | ||
| <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/ground_plane_top_unit.launch.xml"> | ||
| <arg name="vehicle_id" value="$(var vehicle_id)"/> | ||
| <arg name="sensor_model" value="$(var sensor_model)"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
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| <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)" if="$(var rviz)"/> | ||
| </launch> |
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sensor/extrinsic_calibration_manager/launch/aip_x2/ground_plane_front_unit.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="vehicle_id" default="default"/> | ||
| <let name="sensor_model" value="aip_x2"/> | ||
| <let name="base_frame" value="base_link"/> | ||
| <let name="parent_frame" value="base_link"/> | ||
| <let name="child_frame" value="front_unit_base_link"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/front_lower/pointcloud_raw"/> | ||
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| <arg name="use_crop_box_filter"/> | ||
| <arg name="crop_box_min_x"/> | ||
| <arg name="crop_box_min_y"/> | ||
| <arg name="crop_box_min_z"/> | ||
| <arg name="crop_box_max_x"/> | ||
| <arg name="crop_box_max_y"/> | ||
| <arg name="crop_box_max_z"/> | ||
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| <!-- extrinsic_calibration_client --> | ||
| <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensors_calibration.yaml"/> | ||
| <arg name="dst_yaml" default="$(env HOME)/sensors_calibration_front.yaml"/> | ||
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| <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen"> | ||
| <param name="src_path" value="$(var src_yaml)"/> | ||
| <param name="dst_path" value="$(var dst_yaml)"/> | ||
| </node> | ||
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| <!-- extrinsic_calibration_manager --> | ||
| <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen"> | ||
| <param name="parent_frame" value="$(var parent_frame)"/> | ||
| <param name="child_frames" value=" | ||
| [$(var child_frame)]"/> | ||
| </node> | ||
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| <!-- front_unit_base_link: extrinsic_ground_plane_calibrator --> | ||
| <group> | ||
| <include file="$(find-pkg-share extrinsic_ground_plane_calibrator)/launch/calibrator.launch.xml"> | ||
| <arg name="ns" value="$(var parent_frame)/$(var child_frame)"/> | ||
| <arg name="base_frame" value="$(var base_frame)"/> | ||
| <arg name="parent_frame" value="$(var parent_frame)"/> | ||
| <arg name="child_frame" value="$(var child_frame)"/> | ||
| <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/> | ||
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| <arg name="min_plane_points_percentage" value="5.0"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
| </launch> |
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sensor/extrinsic_calibration_manager/launch/aip_x2/ground_plane_rear_unit.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="vehicle_id" default="default"/> | ||
| <let name="sensor_model" value="aip_x2"/> | ||
| <let name="base_frame" value="base_link"/> | ||
| <let name="parent_frame" value="base_link"/> | ||
| <let name="child_frame" value="rear_unit_base_link"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/rear_lower/pointcloud_raw"/> | ||
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| <let name="rviz_profile" value="$(find-pkg-share extrinsic_ground_plane_calibrator)/rviz/xx1.rviz"/> | ||
| <arg name="rviz" default="true"/> | ||
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| <!-- extrinsic_calibration_client --> | ||
| <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensors_calibration.yaml"/> | ||
| <arg name="dst_yaml" default="$(env HOME)/sensors_calibration_rear.yaml"/> | ||
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| <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen"> | ||
| <param name="src_path" value="$(var src_yaml)"/> | ||
| <param name="dst_path" value="$(var dst_yaml)"/> | ||
| </node> | ||
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| <!-- extrinsic_calibration_manager --> | ||
| <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen"> | ||
| <param name="parent_frame" value="$(var parent_frame)"/> | ||
| <param name="child_frames" value=" | ||
| [$(var child_frame)]"/> | ||
| </node> | ||
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| <!-- rear_unit_base_link: extrinsic_ground_plane_calibrator --> | ||
| <group> | ||
| <include file="$(find-pkg-share extrinsic_ground_plane_calibrator)/launch/calibrator.launch.xml"> | ||
| <arg name="ns" value="$(var parent_frame)/$(var child_frame)"/> | ||
| <arg name="base_frame" value="$(var base_frame)"/> | ||
| <arg name="parent_frame" value="$(var parent_frame)"/> | ||
| <arg name="child_frame" value="$(var child_frame)"/> | ||
| <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/> | ||
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| <arg name="min_plane_points_percentage" value="5.0"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
| </launch> |
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sensor/extrinsic_calibration_manager/launch/aip_x2/ground_plane_top_unit.launch.xml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,46 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="vehicle_id" default="default"/> | ||
| <let name="sensor_model" value="aip_x2"/> | ||
| <let name="base_frame" value="base_link"/> | ||
| <let name="parent_frame" value="base_link"/> | ||
| <let name="child_frame" value="top_unit_base_link"/> | ||
| <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw"/> | ||
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| <!-- extrinsic_calibration_client --> | ||
| <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensors_calibration.yaml"/> | ||
| <arg name="dst_yaml" default="$(env HOME)/sensors_calibration_top.yaml"/> | ||
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| <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen"> | ||
| <param name="src_path" value="$(var src_yaml)"/> | ||
| <param name="dst_path" value="$(var dst_yaml)"/> | ||
| </node> | ||
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| <!-- extrinsic_calibration_manager --> | ||
| <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen"> | ||
| <param name="parent_frame" value="$(var parent_frame)"/> | ||
| <param name="child_frames" value=" | ||
| [$(var child_frame)]"/> | ||
| </node> | ||
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| <!-- top_unit_base_link: extrinsic_ground_plane_calibrator --> | ||
| <group> | ||
| <include file="$(find-pkg-share extrinsic_ground_plane_calibrator)/launch/calibrator.launch.xml"> | ||
| <arg name="ns" value="$(var parent_frame)/$(var child_frame)"/> | ||
| <arg name="base_frame" value="$(var base_frame)"/> | ||
| <arg name="parent_frame" value="$(var parent_frame)"/> | ||
| <arg name="child_frame" value="$(var child_frame)"/> | ||
| <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/> | ||
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| <arg name="min_plane_points_percentage" value="5.0"/> | ||
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| <arg name="use_crop_box_filter" value="$(var use_crop_box_filter)"/> | ||
| <arg name="crop_box_min_x" value="$(var crop_box_min_x)"/> | ||
| <arg name="crop_box_min_y" value="$(var crop_box_min_y)"/> | ||
| <arg name="crop_box_min_z" value="$(var crop_box_min_z)"/> | ||
| <arg name="crop_box_max_x" value="$(var crop_box_max_x)"/> | ||
| <arg name="crop_box_max_y" value="$(var crop_box_max_y)"/> | ||
| <arg name="crop_box_max_z" value="$(var crop_box_max_z)"/> | ||
| </include> | ||
| </group> | ||
| </launch> |
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74 changes: 0 additions & 74 deletions
74
sensor/extrinsic_calibration_manager/launch/aip_xx1/ground_plane_sensor_kit.launch.xml
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