update generic_calibration with new video

Signed-off-by: ismetatabay <[email protected]>

docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md

@@ -54,13 +54,23 @@ Let's start with adding vehicle_id and sensor model names. (Optionally, values a
 ```diff
 + <?xml version="1.0" encoding="UTF-8"?>
 + <launch>
-+   <arg name="vehicle_id" default="tutorial_vehicle"/>
++   <arg name="vehicle_id" default="<YOUR_VEHICLE_ID>"/>
 +
-+   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/>
++   <let name="sensor_model" value="<YOUR_SENSOR_KIT_NAME>"/>
 ```
 
+??? note "i.e. tutorial_vehicle"
+    ```xml
+     <?xml version="1.0" encoding="UTF-8"?>
+     <launch>
+       <arg name="vehicle_id" default="tutorial_vehicle"/>
+
+       <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/>
+    ```
+
 After that, we will launch our sensor_kit for manual sensor calibration,
-so we must add these lines on manual.launch.xml:
+so we must add these lines on manual.launch.xml
+(This is the same for tutorial_vehicle, it uses vehicle_id and sensor_name as parameters):
 
 ```diff
 +   <group>
@@ -98,18 +108,20 @@ The final version of the file (manual.launch.xml) for tutorial_vehicle should be
 After the completing of manual.launch.xml file,
 we will be ready to implement manual_sensor_kit.launch.xml for the own sensor model:
 
-Optionally, you can modify sensor_model and vehicle_id over this xml snippet:
+Optionally, you can modify sensor_model and vehicle_id over this xml snippet as well:
 
 ```diff
 + <?xml version="1.0" encoding="UTF-8"?>
 + <launch>
-+   <arg name="vehicle_id" default="tutorial_vehicle"/>  <!-- You can update with your own vehicle_id -->
++   <arg name="vehicle_id" default="<YOUR_VEHICLE_ID>"/>
 +
-+   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- You can update with your own sensor_kit -->
++   <let name="sensor_model" value="<YOUR_SENSOR_KIT_NAME>"/>
 +   <let name="parent_frame" value="sensor_kit_base_link"/>
 +
 +   <!-- extrinsic_calibration_client -->
 +   <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensor_kit_calibration.yaml"/>
++
++   <!-- you can shange the destination for saving calibration results -->
 +   <arg name="dst_yaml" default="$(env HOME)/sensor_kit_calibration.yaml"/>
 +
 +   <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen">
@@ -118,53 +130,108 @@ Optionally, you can modify sensor_model and vehicle_id over this xml snippet:
 +   </node>
 ```
 
-Then, we will add all our sensor frames on extrinsic_calibration_manages as child frames.
-For tutorial_vehicle there are four sensors (two lidar, one camera, one gnss/ins), so it will be like this:
+??? note "i.e. vehicle_id and sensor_model definition on tutorial_vehicle"
+
+    ```xml
+    + <?xml version="1.0" encoding="UTF-8"?>
+    + <launch>
+    +   <arg name="vehicle_id" default="tutorial_vehicle"/>
+    +
+    +   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/>
+    +   <let name="parent_frame" value="sensor_kit_base_link"/>
+    +
+    +   <!-- extrinsic_calibration_client -->
+    +   <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensor_kit_calibration.yaml"/>
+    +   <arg name="dst_yaml" default="$(env HOME)/sensor_kit_calibration.yaml"/>
+    +
+    +   <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>
+    ```
+
+Then, we will add all our sensor frames on extrinsic_calibration_manager as child frames.
 
 ```diff
 +   <!-- 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)"/>
 +     <!-- add your sensor frames here -->
 +     <param name="child_frames" value="
-+     [rs_helios_top_base_link,
-+     rs_bpearl_front_base_link,
-+     camera0/camera_link,
-+     gnss_link]"/>
++     [<YOUE_SENSOR_BASE_LINK>,
++     YOUE_SENSOR_BASE_LINK,
++     YOUE_SENSOR_BASE_LINK,
++     YOUE_SENSOR_BASE_LINK
++     ...]"/>
 +   </node>
 ```
 
+For tutorial_vehicle there are four sensors (two lidar, one camera, one gnss/ins), so it will be like this:
+
+??? note "i.e extrinsic_calibration_manager child_frames for tutorial_vehicle"
+
+    ```xml
+    +   <!-- 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)"/>
+    +     <!-- add your sensor frames here -->
+    +     <param name="child_frames" value="
+    +     [rs_helios_top_base_link,
+    +     rs_bpearl_front_base_link,
+    +     camera0/camera_link,
+    +     gnss_link]"/>
+    +   </node>
+    ```
+
 Lastly, we will launch a manual calibrator each frame for our sensors,
-please update namespace (ns) and child_frame argument on `tutorial_vehicle` example:
+please update namespace (ns) and child_frame argument on calibrator.launch.xml launch file argument:
 
 ```diff
 +  <!-- extrinsic_manual_calibrator -->
 +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
-+    <arg name="ns" value="$(var parent_frame)/rs_helios_top_base_link"/>
++    <arg name="ns" value="$(var parent_frame)/<YOUR_SENSOR_BASE_LINK>"/>
 +    <arg name="parent_frame" value="$(var parent_frame)"/>
-+    <arg name="child_frame" value="rs_helios_top_base_link"/>
++    <arg name="child_frame" value="<YOUR_SENSOR_BASE_LINK>""/>
 +  </include>
 +
-+  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
-+    <arg name="ns" value="$(var parent_frame)/rs_bpearl_front_base_link"/>
-+    <arg name="parent_frame" value="$(var parent_frame)"/>
-+    <arg name="child_frame" value="rs_bpearl_front_base_link"/>
-+  </include>
-+
-+  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
-+    <arg name="ns" value="$(var parent_frame)/camera0/camera_link"/>
-+    <arg name="parent_frame" value="$(var parent_frame)"/>
-+    <arg name="child_frame" value="camera0/camera_link"/>
-+  </include>
++  ...
++  ...
++  ...
++  ...
++  ...
 +
-+  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
-+    <arg name="ns" value="$(var parent_frame)/gnss_link"/>
-+    <arg name="parent_frame" value="$(var parent_frame)"/>
-+    <arg name="child_frame" value="gnss_link"/>
-+  </include>
-+ </launch>
 ```
 
+??? note "i.e. calibrator.launch.xml for each tutorial_vehicle's sensors"
+
+    ```xml
+    +  <!-- extrinsic_manual_calibrator -->
+    +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
+    +    <arg name="ns" value="$(var parent_frame)/rs_helios_top_base_link"/>
+    +    <arg name="parent_frame" value="$(var parent_frame)"/>
+    +    <arg name="child_frame" value="rs_helios_top_base_link"/>
+    +  </include>
+    +
+    +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
+    +    <arg name="ns" value="$(var parent_frame)/rs_bpearl_front_base_link"/>
+    +    <arg name="parent_frame" value="$(var parent_frame)"/>
+    +    <arg name="child_frame" value="rs_bpearl_front_base_link"/>
+    +  </include>
+    +
+    +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
+    +    <arg name="ns" value="$(var parent_frame)/camera0/camera_link"/>
+    +    <arg name="parent_frame" value="$(var parent_frame)"/>
+    +    <arg name="child_frame" value="camera0/camera_link"/>
+    +  </include>
+    +
+    +  <include file="$(find-pkg-share extrinsic_manual_calibrator)/launch/calibrator.launch.xml">
+    +    <arg name="ns" value="$(var parent_frame)/gnss_link"/>
+    +    <arg name="parent_frame" value="$(var parent_frame)"/>
+    +    <arg name="child_frame" value="gnss_link"/>
+    +  </include>
+    + </launch>
+    ```
+
 The final version of the manual_sensor_kit.launch.xml for tutorial_vehicle should be like this:
 
 ??? note "Sample manual_sensor_kit.launch.xml for tutorial_vehicle"
@@ -265,4 +332,4 @@ we will update calibrations by hand according to the rviz2 results.
     approximately (it not must be perfect) calibration pairs between sensors.
 
 Here is the video for demonstrating a manual calibration process on tutorial vehicle:
-![type:video](https://youtube.com/embed/ZJZ48vrVaNg)
+![type:video](https://youtube.com/embed/axHILP0PiaQ)