update for xx1 gen2

tier4 · Feb 28, 2024 · fe4a73f · fe4a73f
1 parent 7c307ee
commit fe4a73f
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Showing 2 changed files with 15 additions and 15 deletions.
diff --git a/aip_xx1_description/config/sensor_kit_calibration.yaml b/aip_xx1_description/config/sensor_kit_calibration.yaml
@@ -82,21 +82,21 @@ sensor_kit_base_link:
     z: 0.0 # Design Value
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.349066 # Design Value
+    yaw: 1.22173032679 # Design Value
   hesai_left_base_link:
     x: 0.0 # Design Value
     y: 0.564 # Design Value
     z: -0.300 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.872665 # Design Value
-    yaw: 1.5708 # Design Value
+    roll: 0.872665 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 3.14159265359 # Design Value
   hesai_right_base_link:
     x: 0.0 # Design Value
     y: -0.564 # Design Value
     z: -0.300 # Design Value
-    roll: 0.0 # Design Value
-    pitch: 0.872665 # Design Value
-    yaw: -1.5708 # Design Value
+    roll: 0.69813132679 # Design Value
+    pitch: 0.0 # Design Value
+    yaw: 0.0 # Design Value
   gnss_link:
     x: -0.279 # Design Value
     y: 0.0 # Design Value

diff --git a/aip_xx1_description/config/sensors_calibration.yaml b/aip_xx1_description/config/sensors_calibration.yaml
@@ -12,57 +12,57 @@ base_link:
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: 0.872665 # Design Value
+    yaw: 2.44346132679 # Design Value
   hesai_front_right_base_link:
     x: 3.373 # Design Value
     y: -0.740 # Design Value
     z: 0.5482
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
-    yaw: -0.872665 # Design Value
+    yaw: 0.69813132679 # Design Value
   # velodyne_rear_base_link: #unused
   #   x: -0.358
   #   y: 0.0
   #   z: 1.631
   #   roll: -0.02
   #   pitch: 0.7281317
   #   yaw: 3.141592
-  front_center/radar_link:
+  ars548_front_center_base_link:
     x: 3.520 # Design Value
     y: 0.0 # Design Value
     z: 0.6352
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
-  front_right/radar_link:
+  ars548_front_right_base_link:
     x: 3.384 # Design Value
     y: -0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -1.22173 # Design Value
-  front_left/radar_link:
+  ars548_front_left_base_link:
     x: 3.384 # Design Value
     y: 0.7775 # Design Value
     z: 0.410
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 1.22173 # Design Value
-  rear_center/radar_link:
+  ars548_back_center_base_link:
     x: -0.858 # Design Value
     y: 0.0 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 3.141592 # Design Value
-  rear_right/radar_link:
+  ars548_back_right_base_link:
     x: -0.782 # Design Value
     y: -0.761 # Design Value
     z: 0.520
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: -2.0944 # Design Value
-  rear_left/radar_link:
+  ars548_back_left_base_link:
     x: -0.782 # Design Value
     y: 0.761 # Design Value
     z: 0.520