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feat(aip_x1): use XT-32 for top lidar #391

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feat(aip_x1): use XT-32 for top lidar #391

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1930121
replace vlp-16 to xt-32 in aip_x1_description
Autumn60 Feb 18, 2025
7007d9a
replace vlp-16 to xt-32 in lidar.launch.xml
Autumn60 Feb 18, 2025
10a83bf
remove velodyne diag
Autumn60 Feb 18, 2025
1af299c
separate config_file name
Autumn60 Feb 18, 2025
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2 changes: 1 addition & 1 deletion aip_x1_description/config/sensor_kit_calibration.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
sensor_kit_base_link:
velodyne_top_base_link:
pandar_xt32_top_base_link:
x: 0.000
y: 0.000
z: 0.000
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1 change: 0 additions & 1 deletion aip_x1_description/package.xml
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Expand Up @@ -10,7 +10,6 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>

<depend>pandar_description</depend>
<depend>velodyne_description</depend>

<export>
<build_type>ament_cmake</build_type>
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29 changes: 10 additions & 19 deletions aip_x1_description/urdf/sensor_kit.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="sensor_kit_macro" params="parent x y z roll pitch yaw">
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
<xacro:include filename="$(find imu_description)/urdf/imu.xacro"/>

<xacro:arg name="gpu" default="false"/>
Expand All @@ -20,25 +20,16 @@
<!-- sensor -->
<xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
<!-- lidar -->
<xacro:VLP-16
<xacro:PandarXT-32
name="pandar_xt32_top"
parent="sensor_kit_base_link"
name="velodyne_top"
topic="/points_raw"
hz="10"
samples="220"
gpu="$(arg gpu)"
>
<origin
xyz="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['x']}
${calibration['sensor_kit_base_link']['velodyne_top_base_link']['y']}
${calibration['sensor_kit_base_link']['velodyne_top_base_link']['z']}"
rpy="${calibration['sensor_kit_base_link']['velodyne_top_base_link']['roll']}
${calibration['sensor_kit_base_link']['velodyne_top_base_link']['pitch']}
${calibration['sensor_kit_base_link']['velodyne_top_base_link']['yaw']}"
/>
</xacro:VLP-16>

<xacro:include filename="$(find pandar_description)/urdf/pandar_xt32.xacro"/>
x="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['x']}"
y="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['y']}"
z="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['z']}"
roll="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['roll']}"
pitch="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['pitch']}"
yaw="${calibration['sensor_kit_base_link']['pandar_xt32_top_base_link']['yaw']}"
/>
<xacro:PandarXT-32
name="pandar_xt32_front_center"
parent="sensor_kit_base_link"
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25 changes: 0 additions & 25 deletions aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -17,31 +17,6 @@
type: diagnostic_aggregator/AnalyzerGroup
path: lidar
analyzers:
velodyne:
type: diagnostic_aggregator/AnalyzerGroup
path: velodyne
analyzers:
health_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: health_monitoring
analyzers:
connection:
type: diagnostic_aggregator/GenericAnalyzer
path: connection
contains: [": velodyne_connection"]
timeout: 3.0

temperature:
type: diagnostic_aggregator/GenericAnalyzer
path: temperature
contains: [": velodyne_temperature"]
timeout: 3.0

rpm:
type: diagnostic_aggregator/GenericAnalyzer
path: rpm
contains: [": velodyne_rpm"]
timeout: 3.0
pandar:
type: diagnostic_aggregator/AnalyzerGroup
path: pandar
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5 changes: 0 additions & 5 deletions aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -26,11 +26,6 @@
pandar_temperature: default
pandar_ptp: default

# velodyne
velodyne_connection: default
velodyne_temperature: default
velodyne_rpm: default

sensing_topic_status: default

# imu
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22 changes: 13 additions & 9 deletions aip_x1_launch/launch/lidar.launch.xml
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Expand Up @@ -13,20 +13,24 @@
<push-ros-namespace namespace="lidar"/>

<group>
<push-ros-namespace namespace="top"/>
<include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
<arg name="sensor_frame" value="velodyne_top" />
<arg name="device_ip" value="192.168.1.20"/>
<arg name="host_ip" value="$(var host_ip)"/>
<arg name="data_port" value="2368"/>
<push-ros-namespace namespace="top" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
<arg name="sensor_frame" value="pandar_xt32_top" />
<arg name="sensor_ip" value="192.168.1.20" />
<arg name="data_port" value="2368" />
<arg name="gnss_port" value="10121" />
<arg name="scan_phase" value="180.0" />
<arg name="cloud_min_angle" value="0"/>
<arg name="cloud_max_angle" value="360"/>
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="200.0"/>
<arg name="return_mode" value="Strongest" />
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32_top.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="container_name" value="pointcloud_container"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
</include>
</group>

<group>
<push-ros-namespace namespace="front_center" />
<include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
Expand All @@ -40,7 +44,7 @@
<arg name="min_range" value="0.05"/>
<arg name="max_range" value="200.0"/>
<arg name="return_mode" value="Strongest" />
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32.csv" />
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/xt32_front_center.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
<arg name="container_name" value="pointcloud_container"/>
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