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.

README

localization - deviation estimation tools

Estimate parameters of sensors used for dead reckoning (IMU and odometry) for a better localization performance

README

control - vehicle cmd analyzer

Visualization and analysis tools for the control outputs from Autoware

README

vehicle - time delay estimator

Calibration tool to fix the delay of the commands to the vehicle

README

system - tunable static tf broadcaster

GUI to modify the parameters of generic TFs.

README