feat(awsim_sensor_kit): add calibration file of awsim_sensor_kit to u…

…se latest universe on AWSIM (#42) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Mar 9, 2023 · 09082b6 · 09082b6
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diff --git a/individual_params/config/default/awsim_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/awsim_sensor_kit/sensor_kit_calibration.yaml
@@ -0,0 +1,92 @@
+sensor_kit_base_link:
+  camera0/camera_link:
+    x: 0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.315
+    yaw: 1.035
+  camera1/camera_link:
+    x: -0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.025
+    pitch: 0.32
+    yaw: -2.12
+  camera2/camera_link:
+    x: 0.10731
+    y: -0.56343
+    z: -0.27697
+    roll: -0.00
+    pitch: 0.335
+    yaw: -1.04
+  camera3/camera_link:
+    x: -0.10731
+    y: 0.56343
+    z: -0.27697
+    roll: 0.0
+    pitch: 0.325
+    yaw: 2.0943951
+  camera4/camera_link:
+    x: 0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.03
+    yaw: -0.005
+  camera5/camera_link:
+    x: -0.07356
+    y: 0.0
+    z: -0.0525
+    roll: 0.0
+    pitch: -0.01
+    yaw: 3.125
+  traffic_light_right_camera/camera_link:
+    x: 0.05
+    y: -0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  traffic_light_left_camera/camera_link:
+    x: 0.05
+    y: 0.0175
+    z: -0.1
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  velodyne_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.575
+  velodyne_left_base_link:
+    x: 0.0
+    y: 0.56362
+    z: -0.30555
+    roll: -0.02
+    pitch: 0.71
+    yaw: 1.575
+  velodyne_right_base_link:
+    x: 0.0
+    y: -0.56362
+    z: -0.30555
+    roll: -0.01
+    pitch: 0.71
+    yaw: -1.580
+  gnss_link:
+    x: -0.1
+    y: 0.0
+    z: -0.2
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  tamagawa/imu_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 3.14159265359
+    pitch: 0.0
+    yaw: 3.14159265359
diff --git a/individual_params/config/default/awsim_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/awsim_sensor_kit/sensors_calibration.yaml
@@ -0,0 +1,15 @@
+base_link:
+  sensor_kit_base_link:
+    x: 0.9
+    y: 0.0
+    z: 2.0
+    roll: -0.001
+    pitch: 0.015
+    yaw: -0.0364
+  velodyne_rear_base_link:
+    x: -0.358
+    y: 0.0
+    z: 1.631
+    roll: -0.02
+    pitch: 0.7281317
+    yaw: 3.141592