feat(individual_params): add awsim_jpt config

individual_params/config/awsim_jpt/aip_xx1/flir/bfs0.param.yaml

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+/**:
+  ros__parameters:
+    cameras: ["camera0"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera0:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera0/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186396"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera0.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/bfs1.param.yaml

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+/**:
+  ros__parameters:
+    cameras: ["camera1"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera1:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera1/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186397"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera1.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/bfs2.param.yaml

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+/**:
+  ros__parameters:
+    cameras: ["camera2"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera2:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera2/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186398"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera2.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/bfs3.param.yaml

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+/**:
+  ros__parameters:
+    cameras: ["camera3"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera3:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera3/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186399"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera3.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/bfs4.param.yaml

@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    cameras: ["camera4"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera4:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera4/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186401"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera4.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/bfs5.param.yaml

@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    cameras: ["camera5"]
+    # If true, there is going to be a publisher with a different topic per camera.
+    # Otherwise a single publisher will be reused for all cameras.
+    one_publisher_per_camera: true
+    camera_settings:
+      camera5:
+        window_width: 1440
+        window_height: 1080
+        fps: 20.0
+        # pixel_format can be one of:
+        # bayer_rggb8, bayer_grbg8, bayer_gbrg8, bayer_bggr8, rgb8, bgr8, mono8
+        pixel_format: bgr8
+        frame_id: camera5/camera_optical_link  # optional
+        device_link_throughput_limit: 100000000  # optional
+        serial_number: "20186402"  # optional
+        use_external_trigger: true
+        trigger_line_source: 2
+        gain_upper_limit: 18.0
+    camera5.image_raw.jpeg_quality: 80

individual_params/config/awsim_jpt/aip_xx1/flir/camera0_info.yaml

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+image_width: 1440
+image_height: 1080
+camera_name: camera0
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1039.13693,     0.     ,   720.19014,
+             0.     ,  1038.90465,   553.13684,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.117387, 0.087465, 0.000048, 0.000289, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 1000.33777,     0.     ,   720.68176,     0.     ,
+             0.     ,  1011.50439,   553.7212 ,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/flir/camera1_info.yaml

@@ -0,0 +1,26 @@
+image_width: 1440
+image_height: 1080
+camera_name: camera1
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1035.69053,     0.     ,   741.40082,
+             0.     ,  1034.62081,   556.79944,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.119149, 0.092201, -0.000747, -0.000029, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [  999.98456,     0.     ,   740.61722,     0.     ,
+             0.     ,  1007.08478,   556.7873 ,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/flir/camera2_info.yaml

@@ -0,0 +1,26 @@
+image_width: 1440
+image_height: 1080
+camera_name: camera2
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1044.37723,     0.     ,   746.27628,
+             0.     ,  1043.71509,   559.97515,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.120291, 0.091684, -0.001651, -0.000762, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 1007.8609 ,     0.     ,   744.09045,     0.     ,
+             0.     ,  1016.03833,   559.27887,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/flir/camera3_info.yaml

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+image_width: 1440
+image_height: 1080
+camera_name: camera3
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1046.11112,     0.     ,   737.60777,
+             0.     ,  1045.30241,   525.16489,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.120283, 0.094668, -0.003071, 0.000208, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 1011.43799,     0.     ,   737.51852,     0.     ,
+             0.     ,  1017.32709,   521.74776,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/flir/camera4_info.yaml

@@ -0,0 +1,26 @@
+image_width: 1440
+image_height: 1080
+camera_name: camera4
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1049.83481,     0.     ,   749.54407,
+             0.     ,  1049.15222,   547.55188,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.120215, 0.097250, -0.004060, -0.000075, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 1018.5014 ,     0.     ,   748.47355,     0.     ,
+             0.     ,  1021.94   ,   544.13642,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/flir/camera5_info.yaml

@@ -0,0 +1,26 @@
+image_width: 1440
+image_height: 1080
+camera_name: camera5
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1042.37016,     0.     ,   729.34499,
+             0.     ,  1040.82619,   556.53666,
+             0.     ,     0.     ,     1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.122543, 0.097800, -0.002608, -0.003293, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 1008.90887,     0.     ,   723.0351 ,     0.     ,
+             0.     ,  1013.12915,   554.77464,     0.     ,
+             0.     ,     0.     ,     1.     ,     0.     ]

individual_params/config/awsim_jpt/aip_xx1/imu_corrector.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_stddev_xx: 0.0
+    angular_velocity_stddev_yy: 0.0
+    angular_velocity_stddev_zz: 0.0
+    angular_velocity_offset_x: 0.0
+    angular_velocity_offset_y: 0.0
+    angular_velocity_offset_z: 0.0

individual_params/config/awsim_jpt/aip_xx1/leopard/camera6_info.yaml

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+image_width: 2880
+image_height: 1860
+camera_name: camera6
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [2633.68143, 0.0, 1436.50776, 0.0, 2639.74875, 882.80031, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.344864, 0.127391, 0.000139, -0.000962, 0.0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [2336.96338, 0.0, 1431.91273, 0.0, 0.0, 2521.18921, 878.40538, 0.0, 0.0, 0.0, 1.0, 0.0]

individual_params/config/awsim_jpt/aip_xx1/leopard/camera7_info.yaml

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+image_width: 2880
+image_height: 1860
+camera_name: camera7
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [3948.78433, 0.0, 1525.94513, 0.0, 3956.92142, 828.09787, 0.0, 0.0, 1.0]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.388049, 0.065291, 0.004298, -0.003216, 0.0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 1.,  0.,  0.,
+          0.,  1.,  0.,
+          0.,  0.,  1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [3724.7522, 0.0, 1530.82569, 0.0, 0.0, 3868.40576, 826.41809, 0.0, 0.0, 0.0, 1.0, 0.0]

individual_params/config/awsim_jpt/aip_xx1/leopard/v4l2_6.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    camera_frame_id: "camera6/camera_optical_link"
+    video_device: "/dev/tlr-left"
+    output_encoding: "rgb8"
+    image_size: [2880, 1860]
+    .image_raw.jpeg_quality: 75
+    publish_rate: 10

individual_params/config/awsim_jpt/aip_xx1/leopard/v4l2_7.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    camera_frame_id: "camera7/camera_optical_link"
+    video_device: "/dev/tlr-right"
+    output_encoding: "rgb8"
+    image_size: [2880, 1860]
+    .image_raw.jpeg_quality: 75
+    publish_rate: 10

individual_params/config/awsim_jpt/aip_xx1/livox_front_left_bd_code.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    cmdline_input_bd_code: '1HDDH1200105911'

individual_params/config/awsim_jpt/aip_xx1/livox_front_right_bd_code.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    cmdline_input_bd_code: '1HDDH1200104481'