Turn on the side lidars

[xmfcx]

In the AWSIM Autoware configuration and in the simulation, there are 2 side lidars. With the lidar on top, there are 3 VLP16s on the vehicle.

In the old HDRP, due to performance issues side lidars were turned off.

Let's turn them back on.

Also @brkay54 tested the side lidars and will share some problems they have.

Probably if we just move(translate) them slightly to the sides, the problems will be fixed.

[brkay54]

The current left and right lidar output is shown here. My concerns are:

• side lidars are not symmetrical
• they can not see the front of the vehicle

We made some draft changes, the points on the vehicle were increased but the side lidars can see the front. It is just a draft setup we can improve it.

Sensor positions before change:

  velodyne_left_base_link:
    x: 0.0
    y: 0.56362
    z: -0.30555
    roll: -0.02
    pitch: 0.71
    yaw: 1.575
  velodyne_right_base_link:
    x: 0.0
    y: -0.56362
    z: -0.30555
    roll: -0.01
    pitch: 0.71
    yaw: -1.580

Sensor positions after change:

  velodyne_left_base_link:
    x: 0.0
    y: 0.6
    z: -0.30555
    roll: -0.020000007151
    pitch: 0.70999994
    yaw: 1.5749851
  velodyne_right_base_link:
    x: 0.0
    y: -0.6
    z: -0.30555
    roll: -0.020000007151
    pitch: 0.70999994
    yaw: -1.5749851

[mozhoku]

Okay I've made some changes and opened a PR on the autoware_individual_params repo here:

• https://github.com/autowarefoundation/autoware_individual_params/pull/47

In the AWSIM side I will update the lidars and will look like this:

Before:

After: