Renamed lidar frames, Workaround for ros-drivers/ros2_ouster_drivers#87

FranzAlbers · Jul 5, 2022 · 036e03d · 036e03d
1 parent 444c2dd
commit 036e03d
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Showing 2 changed files with 16 additions and 16 deletions.
diff --git a/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml b/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml
@@ -1,12 +1,12 @@
 sensor_kit_base_link:
-  lidar_os1/sensor:
+  lidar_os1/base_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  lidar_os2/sensor:
+  lidar_os2/base_link:
     x: 0.0
     y: 0.0
     z: -0.135

diff --git a/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro b/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro
@@ -26,24 +26,24 @@
     <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
 
     <!-- lidar -->
-    <xacro:OS1-64 parent="sensor_kit_base_link" name="lidar_os1/sensor" topic_points="/points" hz="10" samples="220">
+    <xacro:OS1-64 parent="sensor_kit_base_link" name="lidar_os1/base_link" topic_points="/points" hz="10" samples="220">
       <origin
-        xyz="${calibration['sensor_kit_base_link']['lidar_os1/sensor']['x']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['y']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['lidar_os1/sensor']['roll']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['pitch']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['yaw']}"
+        xyz="${calibration['sensor_kit_base_link']['lidar_os1/base_link']['x']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['y']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['lidar_os1/base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['yaw']}"
       />
     </xacro:OS1-64>
-    <xacro:OS2-64 parent="sensor_kit_base_link" name="lidar_os2/sensor" topic_points="/points" hz="10" samples="220">
+    <xacro:OS2-64 parent="sensor_kit_base_link" name="lidar_os2/base_link" topic_points="/points" hz="10" samples="220">
       <origin
-        xyz="${calibration['sensor_kit_base_link']['lidar_os2/sensor']['x']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['y']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['lidar_os2/sensor']['roll']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['pitch']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['yaw']}"
+        xyz="${calibration['sensor_kit_base_link']['lidar_os2/base_link']['x']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['y']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['lidar_os2/base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['yaw']}"
       />
     </xacro:OS2-64>