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feat: update x2 launch file #138

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merged 4 commits into from
Oct 20, 2023
Merged

feat: update x2 launch file #138

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f3a7559
fix image topic name and add camera7
yabuta Oct 19, 2023
632bfbf
add lidar tag id
yabuta Oct 19, 2023
e08a798
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 19, 2023
464f22c
Merge branch 'feature/fix_image_topic_name_and_add_camera7' of github…
yabuta Oct 19, 2023
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8 changes: 4 additions & 4 deletions sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,8 @@
<!-- image decompressor -->
<group if="$(var calibrate_sensor)">
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
<remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
<remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
<remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
<remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
</node>
</group>

Expand All @@ -41,7 +41,7 @@
<arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
<arg name="parent_frame" value="$(var parent_frame)"/>
<arg name="child_frame" value="$(var camera_frame)"/>
<arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
<arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
<arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
<arg name="pointcloud_topic" value="/sensing/lidar/front_lower/pointcloud_raw"/>
<arg name="lidar_model" value="$(var lidar_model)"/>
Expand All @@ -53,7 +53,7 @@

<node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
<remap from="pointcloud" to="/sensing/lidar/front_lower/pointcloud_raw"/>
<remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
<remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
<remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
<remap from="calibration_points_input" to="calibration_points"/>

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2 changes: 1 addition & 1 deletion sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml
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Expand Up @@ -128,7 +128,7 @@
<include file="$(find-pkg-share extrinsic_tag_based_base_calibrator)/launch/calibrator.launch.xml">
<arg name="base_frame" value="base_link"/>

<!--TODO: the need to know lidar_sensor_kit_frames should be removed after the redesign. So no need to match it corectly for any other than the main lidar. These are used to create the calibration services -->

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<arg name="lidar_sensor_kit_frames" value="[
top_unit_base_link,
top_unit_base_link,
Expand Down Expand Up @@ -189,7 +189,7 @@

<arg name="ground_tag_size" value="0.163"/-->

<!--Tag configuration - 2023/03/23 - Omiya -->

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<!--arg name="waypoint_tag_ids" value="[0, 3, 4, 5]"/>
<arg name="ground_tag_size" value="0.79987"/>

Expand All @@ -203,8 +203,8 @@
value="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50]"
/-->

<!--Tag configuration - 2023/04/21 - Omiya -->

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<arg name="waypoint_tag_ids" value="[0, 3, 4, 5]"/>
<arg name="waypoint_tag_ids" value="[0, 1, 2, 3, 4, 5]"/>
<arg name="waypoint_tag_size" value="0.6"/>

<arg name="ground_tag_family" value="tag36h11"/>
Expand All @@ -218,11 +218,11 @@
"
/>

<arg name="auxiliar_tag_family" value="tag36h11"/>

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<arg name="auxiliar_tag_rows" value="1"/>

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<arg name="auxiliar_tag_cols" value="1"/>

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<arg name="auxiliar_tag_size" value="0.22"/>

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<arg name="auxiliar_tag_spacing" value="0.2"/>

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<arg
name="auxiliar_tag_ids"
value="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]"
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8 changes: 4 additions & 4 deletions sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,8 @@
<!-- image decompressor -->
<group if="$(var calibrate_sensor)">
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
<remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
<remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
<remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
<remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
</node>
</group>

Expand All @@ -41,7 +41,7 @@
<arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
<arg name="parent_frame" value="$(var parent_frame)"/>
<arg name="child_frame" value="$(var camera_frame)"/>
<arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
<arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
<arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
<arg name="pointcloud_topic" value="/sensing/lidar/rear_lower/pointcloud_raw"/>
<arg name="lidar_model" value="$(var lidar_model)"/>
Expand All @@ -53,7 +53,7 @@

<node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
<remap from="pointcloud" to="/sensing/lidar/rear_lower/pointcloud_raw"/>
<remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
<remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
<remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
<remap from="calibration_points_input" to="calibration_points"/>

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29 changes: 25 additions & 4 deletions sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,10 @@
<arg name="camera_name"/>
<arg name="rviz"/>

<let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
<let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
<let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
<let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
<let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
<let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
<let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>

<let name="camera_frame" value="$(var camera_name)/camera_link"/>
Expand All @@ -17,15 +19,34 @@
<let name="pointcloud_topic" value="/sensing/lidar/right_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
<let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
<let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
<let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>

<let name="calibrate_sensor" value="false"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>

<let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"/>
<let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>

<let
name="rviz_profile"
value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"
/>
<let
name="rviz_profile"
value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"
/>
<let
name="rviz_profile"
value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"
/>
<let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
<let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
<let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>

<let name="lidar_model" value="pandar_40p"/>
<!--let name="lidar_model" value="pandar_qt" /-->
Expand Down
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