Added ftd_sensor to individual params

Futu-reADS · Jun 20, 2024 · c9a673a · c9a673a
1 parent 9501995
commit c9a673a
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Showing 3 changed files with 32 additions and 0 deletions.
diff --git a/individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml b/individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_stddev_xx: 0.00339
+    angular_velocity_stddev_yy: 0.00339
+    angular_velocity_stddev_zz: 0.00339
+    angular_velocity_offset_x: -0.005799
+    angular_velocity_offset_y: -0.007148
+    angular_velocity_offset_z: -0.001499
diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml
@@ -0,0 +1,15 @@
+sensor_kit_base_link:
+  hesai_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  tamagawa/imu_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 3.14159265359
+    pitch: 0.0
+    yaw: 3.14159265359
diff --git a/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml
@@ -0,0 +1,9 @@
+base_link:
+  sensor_kit_base_link:
+    x: 1.01
+    y: 0.0
+    z: 0.93
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+