Modified testbed okinawa

Futu-reADS · Jul 20, 2024 · 2f8b2b1 · 2f8b2b1
1 parent 2d2757b
commit 2f8b2b1
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Showing 2 changed files with 11 additions and 11 deletions.
diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml
@@ -7,30 +7,30 @@ sensor_kit_base_link:
     pitch: 0.0
     yaw: 0.0
   ydlidar_front_base_link:  # Okinawa testbed 20240702
-    x:  0.29
+    x:  0.25
     y: -0.14
-    z: -0.73
-    roll: -3.14159
+    z: -0.7
+    roll:  -3.14159
     pitch: 0.0
-    yaw:  -1.5708
-#  ydlidar_front_base_link: # Okinawa testbed planned
+    yaw:   -1.5708
+#  ydlidar_front_base_link:  # Okinawa testbed planned
 #    x:  0.22
 #    y:  0.0
 #    z: -0.50
 #    roll:  0.0
 #    pitch: 0.0
 #    yaw:   1.5708
-  ydlidar_rear_base_link:   # Okinawa testbed planned
+  ydlidar_rear_base_link:  # Okinawa testbed planned
     x: -1.06
     y:  0.0
     z: -0.57
     roll:  0.0
     pitch: 0.0
     yaw:   0.0
   tamagawa/imu_link:        # Okinawa testbed center
-    x: -0.5
+    x: -0.05
     y: 0.0
-    z: -0.50
+    z: -0.45
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
+    yaw: 1.5708
diff --git a/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml
@@ -1,8 +1,8 @@
 base_link:
   sensor_kit_base_link:
-    x: 1.01
+    x: 1.15
     y: 0.0
-    z: 0.93
+    z: 0.9
     roll: 0.0
     pitch: 0.0
     yaw: 0.0