diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md index 3190ec01312..ba4daa4ecf2 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md +++ b/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 + + -+ ++ + -+ ++ ``` +??? note "i.e. tutorial_vehicle" + ```xml + + + + + + ``` + 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 + @@ -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 + + -+ ++ + -+ ++ + + + + ++ ++ + + + @@ -118,8 +130,27 @@ Optionally, you can modify sensor_model and vehicle_id over this xml snippet: + ``` -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 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ``` + +Then, we will add all our sensor frames on extrinsic_calibration_manager as child frames. ```diff + @@ -127,44 +158,80 @@ For tutorial_vehicle there are four sensors (two lidar, one camera, one gnss/ins + + + ++ [, ++ YOUE_SENSOR_BASE_LINK, ++ YOUE_SENSOR_BASE_LINK, ++ YOUE_SENSOR_BASE_LINK ++ ...]"/> + ``` +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 + + + + + + + + + + + + + ``` + 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 + + -+ ++ + -+ ++ + + -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ ++ ... ++ ... ++ ... ++ ... ++ ... + -+ -+ -+ -+ -+ -+ ``` +??? note "i.e. calibrator.launch.xml for each tutorial_vehicle's sensors" + + ```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ``` + 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)