Awesome
calibration_tools
Calibration tools used for autonomous driving
Requirement
- Ubuntu 20.04
- ROS 2 Galactic
Installation procedures
After installing autoware (please see source-installation page), execute the following commands:
cd autoware
wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
vcs import src < calibration_tools.repos
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
Implemented calibration tools
sensor
We provide calibration tool for sensor pairs like LiDAR - LiDAR, LiDAR - Camera, etc.
localization - deviation estimation tools
Estimate parameters of sensors used for dead reckoning (IMU and odometry) for a better localization performance
control - vehicle cmd analyzer
Visualization and analysis tools for the control outputs from Autoware
vehicle - time delay estimator
Calibration tool to fix the delay of the commands to the vehicle
system - tunable static tf broadcaster
GUI to modify the parameters of generic TFs.