Merge pull request #138 from tier4/feature/fix_image_topic_name_and_a…

…dd_camera7 feat: update x2 launch file
tier4 · Oct 20, 2023 · 5035f8e · 5035f8e
2 parents efba429 + 464f22c
commit 5035f8e
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Showing 5 changed files with 1,256 additions and 13 deletions.
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_front_unit.launch.xml
@@ -31,8 +31,8 @@
   <!-- image decompressor -->
   <group if="$(var calibrate_sensor)">
     <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
-      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     </node>
   </group>
 
@@ -41,7 +41,7 @@
     <arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
     <arg name="parent_frame" value="$(var parent_frame)"/>
     <arg name="child_frame" value="$(var camera_frame)"/>
-    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     <arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
     <arg name="pointcloud_topic" value="/sensing/lidar/front_lower/pointcloud_raw"/>
     <arg name="lidar_model" value="$(var lidar_model)"/>
@@ -53,7 +53,7 @@
 
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="/sensing/lidar/front_lower/pointcloud_raw"/>
-      <remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+      <remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
       <remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
       <remap from="calibration_points_input" to="calibration_points"/>
 

diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_lidars.launch.xml
@@ -204,7 +204,7 @@
     /-->
 
     <!--Tag configuration - 2023/04/21 - Omiya -->
-    <arg name="waypoint_tag_ids" value="[0, 3, 4, 5]"/>
+    <arg name="waypoint_tag_ids" value="[0, 1, 2, 3, 4, 5]"/>
     <arg name="waypoint_tag_size" value="0.6"/>
 
     <arg name="ground_tag_family" value="tag36h11"/>

diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_rear_unit.launch.xml
@@ -31,8 +31,8 @@
   <!-- image decompressor -->
   <group if="$(var calibrate_sensor)">
     <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
-      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
-      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+      <remap from="decompressor/input/compressed_image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+      <remap from="decompressor/output/raw_image" to="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     </node>
   </group>
 
@@ -41,7 +41,7 @@
     <arg name="ns" value="$(var parent_frame)/$(var camera_frame)"/>
     <arg name="parent_frame" value="$(var parent_frame)"/>
     <arg name="child_frame" value="$(var camera_frame)"/>
-    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
+    <arg name="image_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
     <arg name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
     <arg name="pointcloud_topic" value="/sensing/lidar/rear_lower/pointcloud_raw"/>
     <arg name="lidar_model" value="$(var lidar_model)"/>
@@ -53,7 +53,7 @@
 
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="/sensing/lidar/rear_lower/pointcloud_raw"/>
-      <remap from="image" to="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+      <remap from="image" to="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
       <remap from="camera_info" to="/sensing/camera/$(var camera_name)/camera_info"/>
       <remap from="calibration_points_input" to="calibration_points"/>
 

diff --git a/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_x2/tag_based_top_unit.launch.xml
@@ -6,8 +6,10 @@
   <arg name="camera_name"/>
   <arg name="rviz"/>
 
-  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed"/>
-  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed"/>
+  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/decompressed"/>
+  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_rect_color/compressed"/>
+  <let name="image_decompressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/decompressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
+  <let name="image_compressed_topic" value="/sensing/camera/$(var camera_name)/image_raw/compressed" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
   <let name="camera_info_topic" value="/sensing/camera/$(var camera_name)/camera_info"/>
 
   <let name="camera_frame" value="$(var camera_name)/camera_link"/>
@@ -17,15 +19,34 @@
   <let name="pointcloud_topic" value="/sensing/lidar/right_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
   <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
   <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
+  <let name="pointcloud_topic" value="/sensing/lidar/left_upper/pointcloud_raw" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
 
   <let name="calibrate_sensor" value="false"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
   <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
-
-  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"/>
+  <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
+
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"
+  />
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera1' &quot;)"
+  />
+  <let
+    name="rviz_profile"
+    value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_right.rviz"
+    if="$(eval &quot;'$(var camera_name)' == 'camera2' &quot;)"
+  />
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera4' &quot;)"/>
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera5' &quot;)"/>
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_$(var camera_name)_pandar_40p_left.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera7' &quot;)"/>
 
   <let name="lidar_model" value="pandar_40p"/>
   <!--let name="lidar_model" value="pandar_qt" /-->