hjkim
82d3725779
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.
94 lines
3.1 KiB
XML
94 lines
3.1 KiB
XML
<?xml version="1.0"?>
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<robot name="mid360_robot">
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<!-- ============================================================
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Root: aft_mapped
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FAST-LIVO2가 camera_init → aft_mapped 를 동적으로 발행.
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이 링크 자체는 LiDAR body frame.
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============================================================ -->
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<link name="aft_mapped"/>
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<!-- ============================================================
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Livox MID-360 시각화 (aft_mapped 원점에 위치)
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실제 크기: 직경 65mm, 높이 38mm → 박스로 근사
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============================================================ -->
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<link name="lidar_link">
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<visual>
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<geometry>
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<box size="0.07 0.07 0.04"/>
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</geometry>
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<material name="dark_gray">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="aft_mapped_to_lidar" type="fixed">
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<parent link="aft_mapped"/>
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<child link="lidar_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<!-- ============================================================
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로봇 샤시 박스 (임시 크기 — 실측 후 xyz/size 수정)
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parent: aft_mapped 기준 z=-0.25m (라이다 아래 250mm, 바닥 수평)
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size: 가로 x 세로 x 높이 (m)
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============================================================ -->
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.40 0.30 0.15"/>
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</geometry>
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<material name="light_gray">
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<color rgba="0.7 0.7 0.7 0.6"/>
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</material>
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</visual>
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</link>
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<joint name="aft_mapped_to_base" type="fixed">
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<parent link="aft_mapped"/>
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<child link="base_link"/>
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<!-- 라이다 pitch -15.89° 보정 → base_link 바닥 수평
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rpy pitch = +15.89° = 0.2773 rad 반대 방향 적용 -->
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<origin xyz="0 0 -0.25" rpy="0 -0.277309 0"/>
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</joint>
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<!-- ============================================================
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Hikrobot 카메라 (캘리브레이션 결과 적용)
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camera_link: REP-103 (x=전방, y=왼쪽, z=위)
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============================================================ -->
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<link name="camera_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.05 0.09 0.04"/>
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</geometry>
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<material name="blue">
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<color rgba="0.2 0.4 0.8 1.0"/>
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</material>
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</visual>
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</link>
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<joint name="aft_mapped_to_camera" type="fixed">
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<parent link="aft_mapped"/>
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<child link="camera_link"/>
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<!-- calib.json T_lidar_camera 역변환 결과 -->
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<origin xyz="0.128964 -0.026998 -0.043195"
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rpy="-1.529526 -1.293497 3.122599"/>
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</joint>
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<!-- ============================================================
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Camera optical frame (ROS 표준)
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x=오른쪽, y=아래, z=전방
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============================================================ -->
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<link name="camera_optical_link"/>
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<joint name="camera_to_optical" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_optical_link"/>
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<origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
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</joint>
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</robot>
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