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feat(*_launch): move here (#1369)
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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‎build_depends.repos

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@@ -3,3 +3,7 @@ repositories:
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type: git
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url: https://github.com/autowarefoundation/autoware_common.git
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version: main
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sensor_component_description:
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type: git
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url: https://github.com/tier4/sensor_component_description.git
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version: main

‎sensor_kit/awsim_labs_sensor_kit_launch/README.md

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# awsim_labs_sensor_kit_launch
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🗃️ This is an archived repository.
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The contents of this repository are now moved to [autoware_launch](https://github.com/autowarefoundation/autoware_launch) repository.
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The packages from this repository now live under the `autoware_launch/sensor_kit` directory.
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**The reason** for this move is to consolidate all the launch files in one repository to make it easier to maintain and manage.
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**Related issue:** [Move launch and parameter packages into autoware_launch #5912](https://github.com/autowarefoundation/autoware/issues/5912)
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In the far future, the launch file structure will be updated more drastically to make them more modular and easier to use.
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But for those updates, please follow the [autoware_launch](https://github.com/autowarefoundation/autoware_launch) repository.

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package awsim_labs_sensor_kit_description
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.42.0 (2025-03-28)
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-------------------
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0.41.1 (2025-02-13)
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-------------------
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0.41.0 (2025-02-12)
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-------------------
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0.39.0 (2024-12-12)
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-------------------
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* refactor: update for the awsim_labs (`#2 <https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch/issues/2>`_)
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* Contributors: M. Fatih Cırıt

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(awsim_labs_sensor_kit_description)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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ament_auto_package(INSTALL_TO_SHARE
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urdf
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config
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)

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/config/sensor_kit_calibration.yaml

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sensor_kit_base_link:
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camera0/camera_link:
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x: 0.10731
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y: 0.56343
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z: -0.27697
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roll: -0.025
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pitch: 0.315
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yaw: 1.035
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camera1/camera_link:
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x: -0.10731
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y: -0.56343
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z: -0.27697
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roll: -0.025
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pitch: 0.32
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yaw: -2.12
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camera2/camera_link:
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x: 0.10731
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y: -0.56343
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z: -0.27697
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roll: -0.00
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pitch: 0.335
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yaw: -1.04
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camera3/camera_link:
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x: -0.10731
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y: 0.56343
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z: -0.27697
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roll: 0.0
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pitch: 0.325
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yaw: 2.0943951
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camera4/camera_link:
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x: 0.07356
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y: 0.0
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z: -0.0525
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roll: 0.0
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pitch: -0.03
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yaw: -0.005
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camera5/camera_link:
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x: -0.07356
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y: 0.0
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z: -0.0525
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roll: 0.0
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pitch: -0.01
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yaw: 3.125
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traffic_light_right_camera/camera_link:
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x: 0.05
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y: -0.0175
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z: -0.1
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roll: 0.0
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pitch: 0.0
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yaw: 0.0
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traffic_light_left_camera/camera_link:
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x: 0.05
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y: 0.0175
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z: -0.1
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roll: 0.0
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pitch: 0.0
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yaw: 0.0
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velodyne_top_base_link:
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x: 0.0
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y: 0.0
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z: 0.0
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roll: 0.0
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pitch: 0.0
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yaw: 1.575
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velodyne_left_base_link:
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x: 0.0
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y: 0.56362
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z: -0.30555
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roll: -0.02
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pitch: 0.71
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yaw: 1.575
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velodyne_right_base_link:
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x: 0.0
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y: -0.56362
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z: -0.30555
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roll: -0.01
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pitch: 0.71
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yaw: -1.580
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gnss_link:
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x: -0.1
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y: 0.0
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z: -0.2
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roll: 0.0
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pitch: 0.0
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yaw: 0.0
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tamagawa/imu_link:
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x: 0.0
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y: 0.0
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z: 0.0
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roll: 3.14159265359
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pitch: 0.0
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yaw: 3.14159265359

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/config/sensors_calibration.yaml

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base_link:
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sensor_kit_base_link:
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x: 0.9
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y: 0.0
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z: 2.0
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roll: -0.001
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pitch: 0.015
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yaw: -0.0364
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velodyne_rear_base_link:
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x: -0.358
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y: 0.0
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z: 1.631
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roll: -0.02
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pitch: 0.7281317
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yaw: 3.141592

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>awsim_labs_sensor_kit_description</name>
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<version>0.42.0</version>
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<description>The awsim_labs_sensor_kit_description package</description>
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<maintainer email="piotr.jaroszek@robotec.ai">Piotr Jaroszek</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<depend>velodyne_description</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎sensor_kit/awsim_labs_sensor_kit_launch/awsim_labs_sensor_kit_description/urdf/sensor_kit.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
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<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
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<xacro:include filename="$(find vls_description)/urdf/VLS-128.urdf.xacro"/>
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<xacro:include filename="$(find camera_description)/urdf/monocular_camera.xacro"/>
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<xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>
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<xacro:arg name="gpu" default="false"/>
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<xacro:arg name="config_dir" default="$(find awsim_labs_sensor_kit_description)/config"/>
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<xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
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<joint name="${sensor_kit_base_link}_joint" type="fixed">
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<origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
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<parent link="${parent}"/>
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<child link="${sensor_kit_base_link}"/>
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</joint>
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<link name="${sensor_kit_base_link}">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</link>
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<!-- sensor -->
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<xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
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<!-- lidar -->
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<xacro:VLS-128 parent="sensor_kit_base_link" name="velodyne_top" topic="/points_raw" hz="10" samples="220" gpu="$(arg gpu)">
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<origin
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xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
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${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
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${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
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rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
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${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
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${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
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/>
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</xacro:VLS-128>
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<xacro:VLP-16 parent="sensor_kit_base_link" name="velodyne_left" topic="/points_raw" hz="10" samples="220" gpu="$(arg gpu)">
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<origin
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xyz="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['x']}
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${calibration['sensor_kit_base_link']['velodyne_left_base_link']['y']}
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${calibration['sensor_kit_base_link']['velodyne_left_base_link']['z']}"
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rpy="${calibration['sensor_kit_base_link']['velodyne_left_base_link']['roll']}
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${calibration['sensor_kit_base_link']['velodyne_left_base_link']['pitch']}
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${calibration['sensor_kit_base_link']['velodyne_left_base_link']['yaw']}"
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/>
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</xacro:VLP-16>
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<xacro:VLP-16 parent="sensor_kit_base_link" name="velodyne_right" topic="/points_raw" hz="10" samples="220" gpu="$(arg gpu)">
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<origin
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xyz="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['x']}
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${calibration['sensor_kit_base_link']['velodyne_right_base_link']['y']}
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${calibration['sensor_kit_base_link']['velodyne_right_base_link']['z']}"
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rpy="${calibration['sensor_kit_base_link']['velodyne_right_base_link']['roll']}
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${calibration['sensor_kit_base_link']['velodyne_right_base_link']['pitch']}
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${calibration['sensor_kit_base_link']['velodyne_right_base_link']['yaw']}"
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/>
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</xacro:VLP-16>
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<!-- camera -->
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<xacro:monocular_camera_macro
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name="traffic_light_right_camera/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['traffic_light_right_camera/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="traffic_light_left_camera/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['traffic_light_left_camera/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera0/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera0/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera0/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera0/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera0/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera0/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera0/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera1/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera1/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera1/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera1/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera1/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera1/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera1/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera2/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera2/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera2/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera2/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera2/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera2/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera2/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera3/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera3/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera3/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera3/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera3/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera3/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera3/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera4/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera4/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera4/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera4/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera4/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera4/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera4/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<xacro:monocular_camera_macro
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name="camera5/camera"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['camera5/camera_link']['x']}"
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y="${calibration['sensor_kit_base_link']['camera5/camera_link']['y']}"
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z="${calibration['sensor_kit_base_link']['camera5/camera_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['camera5/camera_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['camera5/camera_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['camera5/camera_link']['yaw']}"
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fps="30"
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width="800"
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height="400"
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fov="1.3"
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/>
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<!-- gnss -->
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<xacro:imu_macro
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name="gnss"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['gnss_link']['x']}"
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y="${calibration['sensor_kit_base_link']['gnss_link']['y']}"
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z="${calibration['sensor_kit_base_link']['gnss_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['gnss_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['gnss_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['gnss_link']['yaw']}"
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fps="100"
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/>
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<!-- imu -->
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<xacro:imu_macro
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name="tamagawa/imu"
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parent="sensor_kit_base_link"
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namespace=""
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x="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['x']}"
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y="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['y']}"
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z="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['z']}"
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roll="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['roll']}"
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pitch="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['pitch']}"
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yaw="${calibration['sensor_kit_base_link']['tamagawa/imu_link']['yaw']}"
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fps="100"
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/>
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</xacro:macro>
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</robot>

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