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Initial import: fast_dual_ws (renamed to fhd_fast_tri_ws)

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FAST-LIVO2 dual/triple-camera VIO-LIO mapping workspace (ROS2 Humble),
including the N-camera port from Omni-LIVO, rpg_vikit multi-camera
parameter loader, and the um982_driver/gnss_comm packages staged here
ahead of RTK fusion work.

FAST-LIVO2 and rpg_vikit were previously separate git clones tracking
their own GitHub history (Robotic-Developer-Road org, humble/main
branches) — that history is preserved locally in
src/{FAST-LIVO2,rpg_vikit}/.git-github-backup (not pushed here) and
these two are now tracked flat as part of this repo going forward.
This commit is contained in:
hjkim
2026-08-07 14:09:06 +09:00
commit 82d3725779
149 changed files with 26111 additions and 0 deletions
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src/FAST-LIVO2/urdf/mid360_robot.urdf
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<?xml version="1.0"?>
<robot name="mid360_robot">
<!-- ============================================================
Root: aft_mapped
FAST-LIVO2가 camera_init → aft_mapped 를 동적으로 발행.
이 링크 자체는 LiDAR body frame.
============================================================ -->
<link name="aft_mapped"/>
<!-- ============================================================
Livox MID-360 시각화 (aft_mapped 원점에 위치)
실제 크기: 직경 65mm, 높이 38mm → 박스로 근사
============================================================ -->
<link name="lidar_link">
<visual>
<geometry>
<box size="0.07 0.07 0.04"/>
</geometry>
<material name="dark_gray">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
</link>
<joint name="aft_mapped_to_lidar" type="fixed">
<parent link="aft_mapped"/>
<child link="lidar_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<!-- ============================================================
로봇 샤시 박스 (임시 크기 — 실측 후 xyz/size 수정)
parent: aft_mapped 기준 z=-0.25m (라이다 아래 250mm, 바닥 수평)
size: 가로 x 세로 x 높이 (m)
============================================================ -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.40 0.30 0.15"/>
</geometry>
<material name="light_gray">
<color rgba="0.7 0.7 0.7 0.6"/>
</material>
</visual>
</link>
<joint name="aft_mapped_to_base" type="fixed">
<parent link="aft_mapped"/>
<child link="base_link"/>
<!-- 라이다 pitch -15.89° 보정 → base_link 바닥 수평
rpy pitch = +15.89° = 0.2773 rad 반대 방향 적용 -->
<origin xyz="0 0 -0.25" rpy="0 -0.277309 0"/>
</joint>
<!-- ============================================================
Hikrobot 카메라 (캘리브레이션 결과 적용)
camera_link: REP-103 (x=전방, y=왼쪽, z=위)
============================================================ -->
<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.09 0.04"/>
</geometry>
<material name="blue">
<color rgba="0.2 0.4 0.8 1.0"/>
</material>
</visual>
</link>
<joint name="aft_mapped_to_camera" type="fixed">
<parent link="aft_mapped"/>
<child link="camera_link"/>
<!-- calib.json T_lidar_camera 역변환 결과 -->
<origin xyz="0.128964 -0.026998 -0.043195"
rpy="-1.529526 -1.293497 3.122599"/>
</joint>
<!-- ============================================================
Camera optical frame (ROS 표준)
x=오른쪽, y=아래, z=전방
============================================================ -->
<link name="camera_optical_link"/>
<joint name="camera_to_optical" type="fixed">
<parent link="camera_link"/>
<child link="camera_optical_link"/>
<origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
</joint>
</robot>