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refactor: remove default values from IMU to front LiDAR transform parameters #273

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Merged
otenim merged 1 commit into from
Dec 25, 2025
Merged

refactor: remove default values from IMU to front LiDAR transform parameters #273

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12 changes: 6 additions & 6 deletions sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,12 @@
<arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the different field of views"/>
<arg name="lidar_calibration_max_frames" default="3" description="Number of pointclouds used for calibration"/>

<arg name="imu_to_front_x" default="0.3334" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" default="0.0" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" default="0.0702" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" default="0.000" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" default="0.000" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" default="0.000" description="yaw rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_x" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" description="yaw rotation value from IMU origin to front LiDAR origin"/>

<let name="calibration_camera_optical_link_frames" value="['']"/>

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12 changes: 6 additions & 6 deletions sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,12 @@
<arg name="dense_pointcloud_num_keyframes" default="30" description="Used to compensate the different field of views"/>
<arg name="lidar_calibration_max_frames" default="3" description="Number of pointclouds used for calibration"/>

<arg name="imu_to_front_x" default="0.3334" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" default="0.0" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" default="0.0702" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" default="0.000" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" default="0.000" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" default="0.000" description="yaw rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_x" description="x translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_y" description="y translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_z" description="z translation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_roll" description="roll rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_pitch" description="pitch rotation value from IMU origin to front LiDAR origin"/>
<arg name="imu_to_front_yaw" description="yaw rotation value from IMU origin to front LiDAR origin"/>

<let name="calibration_camera_optical_link_frames" value="['']"/>

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