Capture your rosbag including all the sensor topics in a static environment.
The duration is arbitrary, but about some minutes is recommended.
ROSBAG Example
ros2 bag info 211130ae-8a64-4311-95ab-1b8406c4499b_2021-09-27-15-28-46_0.db3
[INFO] [1632971360.501197002] [rosbag2_storage]: Opened database '211130ae-8a64-4311-95ab-1b8406c4499b_2021-09-27-15-28-46_0.db3' for READ_ONLY.
Files: 211130ae-8a64-4311-95ab-1b8406c4499b_2021-09-27-15-28-46_0.db3
Bag size: 1.7 GiB
Storage id: sqlite3
Duration: 59.999s
Start: Sep 27 2021 15:28:46.957 (1632724126.957)
End: Sep 27 2021 15:29:46.957 (1632724186.957)
Messages: 68385
Topic information: Topic: /awapi/autoware/get/status | Type: autoware_api_msgs/msg/AwapiAutowareStatus | Count: 299 | Serialization Format: cdr
Topic: /awapi/lane_change/get/status | Type: autoware_api_msgs/msg/LaneChangeStatus | Count: 299 | Serialization Format: cdr
Topic: /awapi/object_avoidance/get/status | Type: autoware_api_msgs/msg/ObstacleAvoidanceStatus | Count: 299 | Serialization Format: cdr
Topic: /awapi/path_change/put/force | Type: autoware_planning_msgs/msg/PathChangeModule | Count: 598 | Serialization Format: cdr
Topic: /awapi/prediction/get/objects | Type: autoware_perception_msgs/msg/DynamicObjectArray | Count: 593 | Serialization Format: cdr
Topic: /awapi/traffic_light/get/status | Type: autoware_perception_msgs/msg/TrafficLightStateArray | Count: 593 | Serialization Format: cdr
Topic: /awapi/vehicle/get/door | Type: autoware_api_msgs/msg/DoorStatus | Count: 299 | Serialization Format: cdr
Topic: /awapi/vehicle/get/status | Type: autoware_api_msgs/msg/AwapiVehicleStatus | Count: 299 | Serialization Format: cdr
Topic: /control/current_gate_mode | Type: autoware_control_msgs/msg/GateMode | Count: 596 | Serialization Format: cdr
Topic: /control/external_cmd_selector/current_selector_mode | Type: autoware_control_msgs/msg/ExternalCommandSelectorMode | Count: 596 | Serialization Format: cdr
Topic: /control/shift_cmd | Type: tier4_vehicle_msgs/msg/ShiftStamped | Count: 596 | Serialization Format: cdr
Topic: /control/trajectory_follower/lateral/control_cmd | Type: autoware_control_msgs/msg/ControlCommandStamped | Count: 1984 | Serialization Format: cdr
Topic: /control/trajectory_follower/mpc_follower/debug/steering_cmd | Type: tier4_vehicle_msgs/msg/Steering | Count: 1983 | Serialization Format: cdr
Topic: /control/trajectory_follower/mpc_follower/input/lateral_offset | Type: std_msgs/msg/Float32 | Count: 1197 | Serialization Format: cdr
Topic: /control/turn_signal_cmd | Type: tier4_vehicle_msgs/msg/TurnSignal | Count: 596 | Serialization Format: cdr
Topic: /diagnostics | Type: diagnostic_msgs/msg/DiagnosticArray | Count: 11879 | Serialization Format: cdr
Topic: /diagnostics_agg | Type: diagnostic_msgs/msg/DiagnosticArray | Count: 598 | Serialization Format: cdr
Topic: /localization/twist | Type: geometry_msgs/msg/TwistStamped | Count: 2973 | Serialization Format: cdr
Topic: /pacmod/as_tx/all_system_statuses | Type: pacmod_msgs/msg/AllSystemStatuses | Count: 1806 | Serialization Format: cdr
Topic: /pacmod/can_rx | Type: can_msgs/msg/Frame | Count: 12592 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/objects | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 596 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois0 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 599 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois1 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 597 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois2 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 598 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois3 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 597 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois4 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 598 | Serialization Format: cdr
Topic: /perception/object_recognition/detection/rois5 | Type: autoware_perception_msgs/msg/DynamicObjectWithFeatureArray | Count: 597 | Serialization Format: cdr
Topic: /perception/object_recognition/objects | Type: autoware_perception_msgs/msg/DynamicObjectArray | Count: 596 | Serialization Format: cdr
Topic: /perception/object_recognition/tracking/objects | Type: autoware_perception_msgs/msg/DynamicObjectArray | Count: 595 | Serialization Format: cdr
Topic: /perception/traffic_light_recognition/traffic_light_states | Type: autoware_perception_msgs/msg/TrafficLightStateArray | Count: 597 | Serialization Format: cdr
Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 1023 | Serialization Format: cdr
Topic: /sensing/camera/camera0/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera0/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera1/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 599 | Serialization Format: cdr
Topic: /sensing/camera/camera1/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 599 | Serialization Format: cdr
Topic: /sensing/camera/camera2/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera2/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera3/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 599 | Serialization Format: cdr
Topic: /sensing/camera/camera3/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera4/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera4/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/camera5/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 597 | Serialization Format: cdr
Topic: /sensing/camera/camera5/image_rect_color/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 597 | Serialization Format: cdr
Topic: /sensing/camera/traffic_light/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 598 | Serialization Format: cdr
Topic: /sensing/camera/traffic_light/image_raw/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 585 | Serialization Format: cdr
Topic: /sensing/gnss/fixed | Type: tier4_debug_msgs/msg/BoolStamped | Count: 297 | Serialization Format: cdr
Topic: /sensing/gnss/ublox/fix_velocity | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 298 | Serialization Format: cdr
Topic: /sensing/gnss/ublox/nav_sat_fix | Type: sensor_msgs/msg/NavSatFix | Count: 298 | Serialization Format: cdr
Topic: /sensing/gnss/ublox/navpvt | Type: ublox_msgs/msg/NavPVT | Count: 298 | Serialization Format: cdr
Topic: /sensing/imu/imu_data | Type: sensor_msgs/msg/Imu | Count: 1694 | Serialization Format: cdr
Topic: /sensing/imu/tamagawa/imu_raw | Type: sensor_msgs/msg/Imu | Count: 1694 | Serialization Format: cdr
Topic: /sensing/lidar/left/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 592 | Serialization Format: cdr
Topic: /sensing/lidar/rear/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 593 | Serialization Format: cdr
Topic: /sensing/lidar/right/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 592 | Serialization Format: cdr
Topic: /sensing/lidar/top/velodyne_packets | Type: velodyne_msgs/msg/VelodyneScan | Count: 591 | Serialization Format: cdr
Topic: /system/emergency/is_emergency | Type: autoware_control_msgs/msg/EmergencyMode | Count: 595 | Serialization Format: cdr
Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 3569 | Serialization Format: cdr
Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 1188 | Serialization Format: cdr
Topic: /webauto/vehicle_info | Type: std_msgs/msg/String | Count: 58 | Serialization Format: cdrLaunch extrinsic auto calibration with the following command (on terminal 1).
ros2 launch extrinsic_calibration_manager calibration.launch.xml \
mode:=map_based sensor_model:=<sensor_model> vehicle_model:=<vehicle_model> \
map_path:=<map_path> pointcloud_map_file:=<pointcloud_map> lanelet2_map_file:=<lanelet2_map>For example,
ros2 launch extrinsic_calibration_manager calibration.launch.xml \
mode:=map_based sensor_model:=aip_xx1 vehicle_model:=jpntaxi map_path:=$HOME/map pointcloud_map_file:=0.20_map_clean.pcd lanelet2_map_file:=r1.osmThe previous commands are used when calibration is performed with loss bag data. However, it is also possible to calibrate with actual vehicles, in which case the logging_simulator and related functions are not needed, so the command needs to be modified. In this case, add logging_simulator:=false
Play your rosbag (on terminal 2).
ros2 bag play <rosbag_path> --clock 100 -l -r 0.1 --remap /tf:=/null/tf /tf_static:=/null/tf_staticThe TFs required for calibration are generated by the logging simulator, so the rosbag TFs are remap.
Now you are ready to start.
Then, when the system completes the calibration, rviz will display the calibrated point cloud and the console will display the score.
After that, Check the output file in $HOME/*.yaml.
-
Set the topic name of the resulting point cloud to rviz.
/<name space>/debug/map_pointcloud /<name space>/debug/sensor_pointcloud /<name space>/debug/calibrated_pointcloud
For example,
/sensor_kit/sensor_kit_base_link/velodyne_top_base_link/debug/map_pointcloud /sensor_kit/sensor_kit_base_link/velodyne_top_base_link/debug/sensor_pointcloud /sensor_kit/sensor_kit_base_link/velodyne_top_base_link/debug/calibrated_pointcloud
