(Twizy) Extrinsic Manual Calibration

[dtonda8]

Relevant Autoware Docs

Aim: To roughly calibrate the sensors

• Research priority between Autoware Individual Params and Sensor Kit Param
• Calibrate the Lidar (and potentially the Camera)

[dtonda8]

The CalibrationTools tier4 repo is doesn't match with the current Autoware Docs (as of 9-July-2024), I've created a fork here that matches the current docs as well as using correct package naming (check last few commits for more details).

Previously had issues like this when launching the first ros2 launch command

[component_container-1]          at line 93 in ./src/buffer_core.cpp
[component_container-1] Warning: Invalid frame ID "velodyne_top" passed to canTransform argument source_frame - frame does not exist
[component_container-1]          at line 93 in ./src/buffer_core.cpp
[component_container-1] [ERROR] [1720483974.548080857] [lidar.top.crop_box_filter_self]: [get_transform_matrix] timeout tf: velodyne_top->base_link
[component_container-1] Warning: Invalid frame ID "velodyne_top" passed to canTransform argument source_frame - frame does not exist

Turns out, we need to set up the tf transforms, this can be done with the following:

source install/setup.bash
ros2 launch tier4_vehicle_launch vehicle.launch.xml launch_vehicle_interface:=false sensor_model:=twizy_sensor_kit vehicle_model:=twizy_vehicle vehicle_id:=twizy

Next we need to launch sensing:

source install/setup.bash
ros2 launch twizy_sensor_kit_launch sensing.launch.xml vehicle_mirror_param_file:=/home/mcav/twizy/autoware.twizy/src/vehicle/twizy_vehicle_launch/twizy_vehicle_description/config/mirror.param.yaml vehicle_param_file:=/home/mcav/twizy/autoware.twizy/src/vehicle/twizy_vehicle_launch/twizy_vehicle_description/config/vehicle_info.param.yaml 

Finally, the calibraiton manager:

source install/setup.bash
ros2 launch extrinsic_calibration_manager calibration.launch.xml mode:=manual sensor_model:=twizy_sensor_kit vehicle_model:=twizy_vehicle vehicle_id:=twizy

Camera works, altough /lidar/top/velodyne_points is not publishing despite following the setup here:

TODO:

• Fix issue with velodyne

Edit: turns out velodyne was off, now working

[dtonda8]

Managed to get a successful build with calibration tools on the autoware.twizy repo:

TODO: Continue steps of the doc's steps