From 4d4a4bed5d3d801c897187e16dba9a34aaf65ace Mon Sep 17 00:00:00 2001
From: otenim <snake_istobelieve@keio.jp>
Date: Thu, 25 Dec 2025 17:50:42 +0900
Subject: [PATCH 1/2] refactor: remove default values from IMU to front LiDAR
 transform parameters

- Remove default values from imu_to_front_* parameters in drs mapping_based_lidar_lidar_calibrator
- Remove default values from imu_to_front_* parameters in drs_seyond mapping_based_lidar_lidar_calibrator
- These parameters should be explicitly provided when launching the calibrator
---
 .../mapping_based_lidar_lidar_calibrator.launch.xml  | 12 ++++++------
 .../mapping_based_lidar_lidar_calibrator.launch.xml  | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml b/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
index 6f97e7e5..dd0e02ee 100644
--- a/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/drs/mapping_based_lidar_lidar_calibrator.launch.xml
@@ -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="['']"/>
 
diff --git a/sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml b/sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml
index b39a8671..d0432472 100644
--- a/sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml
+++ b/sensor_calibration_manager/launch/drs_seyond/mapping_based_lidar_lidar_calibrator.launch.xml
@@ -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="['']"/>
 

From 2ea1087e689f4468b21f9d7422454b58ccafae1b Mon Sep 17 00:00:00 2001
From: otenim <snake_istobelieve@keio.jp>
Date: Thu, 25 Dec 2025 19:10:03 +0900
Subject: [PATCH 2/2] feat: add drs_seyond module import to calibrators
 __init__

- Add drs_seyond module import to calibrators __init__.py
- This enables the drs_seyond calibrators to be registered and available
---
 .../sensor_calibration_manager/calibrators/__init__.py           | 1 +
 1 file changed, 1 insertion(+)

diff --git a/sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py b/sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py
index d6771494..f8683899 100644
--- a/sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py
+++ b/sensor_calibration_manager/sensor_calibration_manager/calibrators/__init__.py
@@ -1,5 +1,6 @@
 from .default_project import *  # noqa: F401, F403
 from .drs import *  # noqa: F401, F403
+from .drs_seyond import *  # noqa: F401, F403
 from .rdv import *  # noqa: F401, F403
 from .x1 import *  # noqa: F401, F403
 from .x2 import *  # noqa: F401, F403