Calibrating base-link to Lidar

[ismetatabay]

Hi, I have a question about base-link to main lidar calibration. We are trying create sensor_model for our vehicle. We done camera intrinsic calibrations, lidar - lidar calibrations and camera lidar calibrations. Now, we want calibrating base-link lidar calibration.

To launch extrinsic ground-plane calibration tool, the command is:

ros2 launch extrinsic_calibration_manager calibration.launch.xml \
  mode:=ground_plane sensor_model:=<sensor_model> vehicle_model:=<vehicle_model> vehicle_id:=<vehicle_id>

This tool uses sensor_model, but we don't have sensor model, because its includes base-link to lidar calibration transformations which we don't have.

How can I calibrate this base-link to lidar calibration? I should use Extrinsic Manual Calibration mode for initial calibration?

Thank you in advance.

[knzo25]

Hi, thank you for your interest in our tools.

In order to help you, I think it would be convenient to know more about the architecture of sensors you are considering (i.e., the tf tree).

Take consideration that in the simplest case, where only the base_link, sensor_kit, and the lidar_frame exist, the calibrator will perform base_link to lidar_frame calibration. The sensor_kit itself is not calibrated and so it is possible to set either the base_link to sensor_kit or the sensor_kit to lidar_frame arbitrarily and derive the remaining tf from the calibration (this is the actual output of our tool). For example, a convenient choice is to set the sensor_kit equal to the lidar_frame

[ismetatabay]

I'll try the case which you mentioned, thank you very much for the reply. I will also inform latest situation :+1: