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Monash-Connected-Autonomous-Vehicle / autoware

Autoware - the world's leading open-source software project for autonomous driving
https://www.autoware.org/
Apache License 2.0
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(Twizy) Extrinsic Manual Calibration #44

Open dtonda8 opened 4 months ago

dtonda8 commented 4 months ago

Relevant Autoware Docs

Aim: To roughly calibrate the sensors

dtonda8 commented 4 months ago

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:

Edit: turns out velodyne was off, now working