start with explaining mapping-based calibrator

Signed-off-by: ismetatabay <[email protected]>
autowarefoundation · Sep 7, 2023 · 571b5f4 · 571b5f4
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diff --git a/...ating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md b/...ating-vehicle-and-sensor-description/calibrating-sensors/calibrating-sensors.md
@@ -36,7 +36,4 @@ we will modify `extrinsic_calibration_package` for our sensor kit.
 
 - [Generic Calibration](./generic-calibration.md)
 - [Lidar-Lidar Calibration](./lidar-lidar-calibration.md)
-  - [Map-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_map_based.md)
-  - [Mapping-Based Lidar-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_mapping_based.md)
-- [Ground Plane-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md)
-- [Camera Intrinsic Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md)
+  - [Ground Plane-Lidar Calibration](https://github.com/tier4/CalibrationTools/blob/tier4/universe/sensor/docs/how_to_extrinsic_ground_plane.md)
diff --git a/...ating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md b/...ating-vehicle-and-sensor-description/calibrating-sensors/generic-calibration.md
@@ -29,13 +29,15 @@ So our tutorial_vehicle's recorded topics should like this:
                         Topic: /sensing/camera/camera0/image_rect | Type: sensor_msgs/msg/Image | Count: 2561 | Serialization Format: cdr
                         Topic: /sensing/camera/camera0/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 2561 | Serialization Format: cdr
     ```
+## Extrinsic Manual Based Calibration
 
 First of all, we will start with creating and modifying `extrinsic_calibration_manager` launch files:
 
 ```bash
 cd <YOUR-OWN-AUTOWARE-DIRECTORY>/src/autoware/calibration_tools/sensor
 cd extrinsic_calibration_manager/launch
 mkdir <YOUR-OWN-SENSOR-KIT-NAME> # i.e. for our guide, it will ve mkdir tutorial_vehicle_sensor_kit
+cd <YOUR-OWN-SENSOR-KIT-NAME> # i.e. for our guide, it will ve cd tutorial_vehicle_sensor_kit
 touch manual.launch.xml manual_sensor_kit.launch.xml
 ```
 
@@ -95,15 +97,14 @@ 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:
 
-We will start adding sensor_kit and vehicle_id as `manual.launch.xml`.
 Optionally, you can modify sensor_model and vehicle_id over this xml snippet:
 
 ```diff
 + <?xml version="1.0" encoding="UTF-8"?>
 + <launch>
-+   <arg name="vehicle_id" default="tutorial_vehicle"/>  <!-- Please Update with your own vehicle_id -->
++   <arg name="vehicle_id" default="tutorial_vehicle"/>  <!-- You can update with your own vehicle_id -->
 +
-+   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- Please Update with your own sensor_kit -->
++   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- You can update with your own sensor_kit -->
 +   <let name="parent_frame" value="sensor_kit_base_link"/>
 +
 +   <!-- extrinsic_calibration_client -->
@@ -170,9 +171,9 @@ The final version of the manual_sensor_kit.launch.xml for tutorial_vehicle shoul
     ```xml
     <?xml version="1.0" encoding="UTF-8"?>
     <launch>
-        <arg name="vehicle_id" default="tutorial_vehicle"/> <!-- Please Update with your own vehicle_id -->
+        <arg name="vehicle_id" default="tutorial_vehicle"/> <!-- You can update with your own vehicle_id -->
 
-        <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- Please Update with your own sensor model -->
+        <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- You can update with your own sensor model -->
         <let name="parent_frame" value="sensor_kit_base_link"/>
 
         <!-- extrinsic_calibration_client -->

diff --git a/...g-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md b/...g-vehicle-and-sensor-description/calibrating-sensors/lidar-lidar-calibration.md
@@ -17,3 +17,148 @@ If you want more details about these methods such as usage, troubleshooting etc.
 
     Please get initial calibration results from [Generic Calibration](./generic-calibration.md) section, it is important for getting accurate results from this tool.
     We will use initial calibration parameters that we calculated on previous step on this tutorial.
+
+## Mapping-based lidar-lidar
+
+We start with creating launch file four our vehicle like "Extrinsic Manual Calibration"
+process:
+
+```bash
+cd <YOUR-OWN-AUTOWARE-DIRECTORY>/src/autoware/calibration_tools/sensor
+cd extrinsic_calibration_manager/launch
+cd <YOUR-OWN-SENSOR-KIT-NAME> # i.e. for our guide, it will ve cd tutorial_vehicle_sensor_kit
+touch mapping_based.launch.xml mapping_based_sensor_kit.launch.xml
+```
+
+The created `mapping_based.launch.xml` and `mapping_based_sensor_kit.launch.xml` are version of sample sensor kit
+[aip_x1](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor/extrinsic_calibration_manager/launch/aip_x1) provided from Tier IV.
+
+Then we will continue with adding vehicle_id and sensor model names to the `mapping_based.launch.xml`.
+(Optionally, values are not important. These parameters Overrode from launch argument)
+
+```diff
++ <?xml version="1.0" encoding="UTF-8"?>
++ <launch>
++   <arg name="vehicle_id" default="tutorial_vehicle"/> <!-- You can update with your own vehicle_id -->
++
++   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/> <!-- You can update with your own sensor_kit -->
+```
+
+After that, we will launch our sensor_kit for mapping-based lidar-lidar calibration,
+so we must add these lines on manual.launch.xml:
+
+```diff
++   <group>
++     <push-ros-namespace namespace="sensor_kit"/>
++     <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/mapping_based_sensor_kit.launch.xml">
++       <arg name="vehicle_id" value="$(var vehicle_id)"/>
++     </include>
++   </group>
++
++ </launch>
+```
+
+The final version of the file (mapping_based.launch.xml) for tutorial_vehicle should be like this:
+
+??? note "Sample manual.launch.xml file for tutorial vehicle"
+
+    ```xml
+    <?xml version="1.0" encoding="UTF-8"?>
+    <launch>
+      <arg name="vehicle_id" default="tutorial_vehicle"/>
+      <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/>
+      <arg name="rviz" default="true"/>
+
+      <group>
+        <push-ros-namespace namespace="sensor_kit"/>
+        <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/mapping_based_sensor_kit.launch.xml">
+          <arg name="vehicle_id" value="$(var vehicle_id)"/>
+          <arg name="rviz" value="$(var rviz)"/>
+        </include>
+      </group>
+    </launch>
+
+    ```
+
+After the completing of mapping_based.launch.xml file,
+we will be ready to implement mapping_based_sensor_kit.launch.xml for the own sensor model:
+
+Optionally,
+you can modify sensor_kit and vehicle_id as `mapping_based.launch.xml`over this xml snippet:
+(You can change rviz_profile path after the saving rviz config as video
+which included at the end of the page)
+
+```diff
++ <?xml version="1.0" encoding="UTF-8"?>
++ <launch>
++   <arg name="vehicle_id" default="tutorial_vehicle"/>
++   <let name="sensor_model" value="tutorial_vehicle_sensor_kit"/>
++
++   <arg name="rviz"/>
++   <let name="rviz_profile" value="$(find-pkg-share extrinsic_mapping_based_calibrator)/rviz/x1.rviz"/>
++
++   <!-- You can change after the saving of rviz config like this -->
++   <!-- <let name="rviz_profile" value="$(find-pkg-share extrinsic_mapping_based_calibrator)/rviz/tutorial_vehicle.rviz"/> -->
++
++   <arg name="src_yaml" default="$(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"/>
+```
+
+We will not fill anything on camera parameters for calibrator
+because we will pair lidar-lidar for the calibration process:
+
+```diff
++   <let name="camera_calibration_sensor_kit_frames" value="['']"/>
++   <let name="calibration_camera_frames" value="['']"/>
++   <let name="calibration_camera_optical_link_frames" value="['']"/>
++   <let name="calibration_camera_info_topics" value="['']"/>
++   <let name="calibration_image_topics" value="['']"/>
+```
+
+We will add sensor kit frames for each lidar (except mapping lidar),
+we have one lidar for pairing to the main lidar sensor for tutorial vehicle, so it should be like:
+
+```diff
++   <let name="lidar_calibration_sensor_kit_frames" value="[sensor_kit_base_link]"/>
+```
+
+??? note "i.e., If you have three lidars (one main for mapping, two others)"
+
+    ```xml
+    +  <let name="lidar_calibration_sensor_kit_frames" value="[
+    +  sensor_kit_base_link,
+    +  sensor_kit_base_link,
+    +  sensor_kit_base_link]"/>
+    ```
+
+We will add lidar_calibration_service_names,
+calibration_lidar_base_frames and calibration_lidar_frames for calibrator.
+At the tutorial_vehicle it should be like this snippet:
+
+```diff
++   <let
++           name="lidar_calibration_service_names"
++           value="[/sensor_kit/sensor_kit_base_link/rs_bpearl_front_base_link]"
++   />
+
++   <let name="calibration_lidar_base_frames" value="[rs_bpearl_front_base_link]"/>
++   <let name="calibration_lidar_frames" value="[rs_bpearl_front]"/>
+```
+
+??? note "i.e., If you have three lidars (one main for mapping, two others)"
+
+    ```xml
+    <let
+    name="lidar_calibration_service_names"
+    value="[
+    /sensor_kit/sensor_kit_base_link/livox_front_left_base_link,
+    /sensor_kit/sensor_kit_base_link/livox_front_right_base_link]"
+    />
+    <let name="calibration_lidar_base_frames" value="[
+    livox_front_left_base_link,
+    livox_front_right_base_link]"/>
+
+    <let name="calibration_lidar_frames" value="[
+    livox_front_left,
+    livox_front_right]"/>
+    ```