[{"data":1,"prerenderedAt":1317},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2026-09-20-dao-hang\u002F0300-0200-mid360-an-zhuang-wei-zhi":3,"wiki-doc-items-2026-09-20-dao-hang":1080,"wiki:author-members":1305},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":44,"chapterOrder":1068,"date":1069,"description":37,"docKey":1070,"docRoot":1071,"docTitle":1072,"extension":1073,"isWikiDoc":675,"isWikiIndex":1074,"meta":1075,"navigation":675,"path":1076,"seo":1077,"stem":1078,"wikiDepth":44,"__hash__":1079},"wiki\u002Fwiki\u002F2026-09-20-导航\u002F0300-0200-MID360安装位置.md","MID360安装位置",[7],"董佳辉",{"type":9,"value":10,"toc":1065},"minimark",[11,15,28,31,114,117,125,132,135,141,164,173,179,182,236,239,247,253,263,266,327,330,380,910,913,919,922,927,930,935,938,941,946,951,956,961,964,969,972,1026,1029,1035,1038,1061],[12,13,5],"h2",{"id":14},"mid360安装位置",[16,17,18,19,23,24,27],"p",{},"这里修改实车入口 ",[20,21,22],"code",{},"src\u002Frobot_description\u002Fresource\u002Fxmacro\u002Freality_robot.sdf.xmacro","和",[20,25,26],{},"simulation_robot.sdf.xmacro","。",[16,29,30],{},"北极熊原方案的雷达放在底盘上；YSU当前已挂在gimbal_yaw。下面先保留原始底盘安装示例，后面说明当前挂载关系。",[32,33,38],"pre",{"className":34,"code":35,"language":36,"meta":37,"style":37},"language-xml shiki shiki-themes github-light github-dark","        \u003C!--livox-->\n        \u003Cxmacro_block name=\"livox\" prefix=\"front_\" parent=\"chassis\" pose=\"0.0496 0.0936 0.435 -${pi\u002F12} 0 0\" update_rate=\"20\" samples=\"1875\"\u002F>\n","xml","",[20,39,40,49],{"__ignoreMap":37},[41,42,45],"span",{"class":43,"line":44},"line",1,[41,46,48],{"class":47},"sJ8bj","        \u003C!--livox-->\n",[41,50,52,56,60,64,67,71,74,76,79,82,84,87,90,92,95,98,100,103,106,108,111],{"class":43,"line":51},2,[41,53,55],{"class":54},"sVt8B","        \u003C",[41,57,59],{"class":58},"s9eBZ","xmacro_block",[41,61,63],{"class":62},"sScJk"," name",[41,65,66],{"class":54},"=",[41,68,70],{"class":69},"sZZnC","\"livox\"",[41,72,73],{"class":62}," prefix",[41,75,66],{"class":54},[41,77,78],{"class":69},"\"front_\"",[41,80,81],{"class":62}," parent",[41,83,66],{"class":54},[41,85,86],{"class":69},"\"chassis\"",[41,88,89],{"class":62}," pose",[41,91,66],{"class":54},[41,93,94],{"class":69},"\"0.0496 0.0936 0.435 -${pi\u002F12} 0 0\"",[41,96,97],{"class":62}," update_rate",[41,99,66],{"class":54},[41,101,102],{"class":69},"\"20\"",[41,104,105],{"class":62}," samples",[41,107,66],{"class":54},[41,109,110],{"class":69},"\"1875\"",[41,112,113],{"class":54},"\u002F>\n",[16,115,116],{},"这代表：",[32,118,123],{"className":119,"code":121,"language":122,"meta":37},[120],"language-text","chassis\n└── front_mid360\n","text",[20,124,121],{"__ignoreMap":37},[16,126,127,128,131],{},"改为",[20,129,130],{},"parent=\"gimbal_yaw\"","时，pose也必须按新的父坐标系重新表达安装外参，不能直接沿用相对chassis的数值。",[16,133,134],{},"我们想要的TF链是：",[32,136,139],{"className":137,"code":138,"language":122,"meta":37},[120],"chassis\n  │\n  │ gimbal_yaw_odom_joint（fixed）\n  ▼\ngimbal_yaw_odom\n  │\n  │ fixed\n  ▼\ngimbal_pitch_odom\n  │\n  │ gimbal_yaw_joint = joint_yaw\n  ▼\ngimbal_yaw\n  │\n  │ gimbal_pitch_joint = joint_pitch\n  ▼\ngimbal_pitch\n",[20,140,138],{"__ignoreMap":37},[16,142,143,144,147,148,151,152,155,156,159,160,163],{},"当前",[20,145,146],{},"gimbal_yaw_odom_joint","、",[20,149,150],{},"gimbal_pitch_odom_joint","固定，唯一实际yaw在",[20,153,154],{},"gimbal_yaw_joint","。因此",[20,157,158],{},"gimbal_yaw_odom","位于实际yaw关节之前，",[20,161,162],{},"gimbal_yaw","位于之后，两处挂载的运动关系不同；即使零位时两系重合，也不能认为挂在哪都一样。",[16,165,166,167,169,170,172],{},"MID360固定挂在",[20,168,162],{},"，随实际yaw转动；实际pitch关节在雷达挂载层之后，所以雷达不随pitch转动。挂在",[20,171,158],{},"则不会跟随这个yaw关节转动。",[32,174,177],{"className":175,"code":176,"language":122,"meta":37},[120],"chassis\n  └── fixed → gimbal_yaw_odom\n        └── fixed → gimbal_pitch_odom\n              └── gimbal_yaw_joint（唯一实际yaw）→ gimbal_yaw\n                    ├── front_mid360（固定安装，随yaw）\n                    └── gimbal_pitch_joint（实际pitch）→ gimbal_pitch\n",[20,178,176],{"__ignoreMap":37},[16,180,181],{},"当前reality_robot.sdf.xmacro与simulation_robot.sdf.xmacro的MID360挂载值一致：",[32,183,185],{"className":34,"code":184,"language":36,"meta":37,"style":37},"        \u003C!--livox-->\n        \u003Cxmacro_block name=\"livox\" prefix=\"front_\" parent=\"gimbal_yaw\" pose=\"0.0496 0.0936 0.435 -${pi\u002F12} 0 0\" update_rate=\"20\" samples=\"1875\"\u002F>\n",[20,186,187,191],{"__ignoreMap":37},[41,188,189],{"class":43,"line":44},[41,190,48],{"class":47},[41,192,193,195,197,199,201,203,205,207,209,211,213,216,218,220,222,224,226,228,230,232,234],{"class":43,"line":51},[41,194,55],{"class":54},[41,196,59],{"class":58},[41,198,63],{"class":62},[41,200,66],{"class":54},[41,202,70],{"class":69},[41,204,73],{"class":62},[41,206,66],{"class":54},[41,208,78],{"class":69},[41,210,81],{"class":62},[41,212,66],{"class":54},[41,214,215],{"class":69},"\"gimbal_yaw\"",[41,217,89],{"class":62},[41,219,66],{"class":54},[41,221,94],{"class":69},[41,223,97],{"class":62},[41,225,66],{"class":54},[41,227,102],{"class":69},[41,229,105],{"class":62},[41,231,66],{"class":54},[41,233,110],{"class":69},[41,235,113],{"class":54},[16,237,238],{},"这组pose是当前源码中的安装外参，实物安装尺寸和轴向仍需测量核对。",[16,240,241,242,246],{},"然后还有一个只影响",[243,244,245],"strong",{},"仿真","的参数需要修改：",[16,248,249,252],{},[20,250,251],{},"src\u002Frobot_description\u002Fresource\u002Fmodels\u002Fmid360\u002Fmodel.sdf.xmacro","：",[16,254,255,256,259,260,27],{},"我们前面已经规定好了，这个",[20,257,258],{},"front_mid360","就是",[20,261,262],{},"Livox 官方点云坐标系 O",[16,264,265],{},"所以要把",[32,267,269],{"className":34,"code":268,"language":36,"meta":37,"style":37},"\u003Csensor name=\"${prefix}mid360_lidar\" type=\"gpu_lidar\">\n    \u003Cignition_frame_id>${prefix}mid360\u003C\u002Fignition_frame_id>\n    \u003Cpose>0 0 0.03 0 0 0\u003C\u002Fpose>\n",[20,270,271,297,312],{"__ignoreMap":37},[41,272,273,276,279,281,283,286,289,291,294],{"class":43,"line":44},[41,274,275],{"class":54},"\u003C",[41,277,278],{"class":58},"sensor",[41,280,63],{"class":62},[41,282,66],{"class":54},[41,284,285],{"class":69},"\"${prefix}mid360_lidar\"",[41,287,288],{"class":62}," type",[41,290,66],{"class":54},[41,292,293],{"class":69},"\"gpu_lidar\"",[41,295,296],{"class":54},">\n",[41,298,299,302,305,308,310],{"class":43,"line":51},[41,300,301],{"class":54},"    \u003C",[41,303,304],{"class":58},"ignition_frame_id",[41,306,307],{"class":54},">${prefix}mid360\u003C\u002F",[41,309,304],{"class":58},[41,311,296],{"class":54},[41,313,315,317,320,323,325],{"class":43,"line":314},3,[41,316,301],{"class":54},[41,318,319],{"class":58},"pose",[41,321,322],{"class":54},">0 0 0.03 0 0 0\u003C\u002F",[41,324,319],{"class":58},[41,326,296],{"class":54},[16,328,329],{},"改成",[32,331,333],{"className":34,"code":332,"language":36,"meta":37,"style":37},"\u003Csensor name=\"${prefix}mid360_lidar\" type=\"gpu_lidar\">\n    \u003Cignition_frame_id>${prefix}mid360\u003C\u002Fignition_frame_id>\n    \u003Cpose>0 0 0 0 0 0\u003C\u002Fpose>\n",[20,334,335,355,367],{"__ignoreMap":37},[41,336,337,339,341,343,345,347,349,351,353],{"class":43,"line":44},[41,338,275],{"class":54},[41,340,278],{"class":58},[41,342,63],{"class":62},[41,344,66],{"class":54},[41,346,285],{"class":69},[41,348,288],{"class":62},[41,350,66],{"class":54},[41,352,293],{"class":69},[41,354,296],{"class":54},[41,356,357,359,361,363,365],{"class":43,"line":51},[41,358,301],{"class":54},[41,360,304],{"class":58},[41,362,307],{"class":54},[41,364,304],{"class":58},[41,366,296],{"class":54},[41,368,369,371,373,376,378],{"class":43,"line":314},[41,370,301],{"class":54},[41,372,319],{"class":58},[41,374,375],{"class":54},">0 0 0 0 0 0\u003C\u002F",[41,377,319],{"class":58},[41,379,296],{"class":54},[381,382,383],"ol",{},[384,385,386,387,392,395,402,404,405,407,411,413,416,418,419,421,422,428,430,431,433,434,436,437,439,442,444,445,451,453,456,462,464,465,470,541,563,569,571,572,578,580,581,587,589,590,593,595,596,623,625,626,631,633,634,693,695,696,699,700,252,702,704,710,711,714,715,718,719,721,722,724,725,756,762,764,765,792,794,795,800,802,804,805,807,808,810,811,864,866,867,904,906,907,909],"li",{},"mid360",[381,388,389],{},[384,390,391],{},"mid360的原点：",[393,394],"br",{},[396,397,401],"a",{"href":398,"rel":399},"http:\u002F\u002Fterra-1-g.djicdn.com\u002F851d20f7b9f64838a34cd02351370894\u002FLivox\u002FLivox_Mid-360_User_Manual_EN.pdf",[400],"nofollow","大疆官方资料",[393,403],{},"规定的方向：",[393,406],{},[408,409],"img",{"alt":37,"src":410},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1790078254615-9a5034b6.webp",[393,412],{},[408,414],{"alt":37,"src":415},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1790075763398-24158922.webp",[393,417],{},"如上图可知，位于激光雷达的中心轴上，并距离底面47mm处。",[393,420],{},"也就是",[32,423,426],{"className":424,"code":425,"language":122,"meta":37},[120],"底部安装面中心\n    │\n    │ +47 mm\n    ↓\n   O 点\n",[20,427,425],{"__ignoreMap":37},[393,429],{},"先量 chassis \u002F 云台坐标原点 到 Mid360 底部安装面中心的位置，然后 Z 再补这 47 mm，就能得到 chassis \u002F 云台 → Mid360 官方 O 点的位置。",[393,432],{},"官方说明：",[393,435],{},"官方手册明确规定：Mid-360 的 O-XYZ 是点云坐标系，其中 O 是点云原点。",[393,438],{},[408,440],{"alt":37,"src":441},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1790078171799-4ad98bcb.webp",[393,443],{},"而内置 IMU 芯片相对于这个点云坐标系的位置是：",[32,446,449],{"className":447,"code":448,"language":122,"meta":37},[120],"x = +11.00 mm\ny = +23.29 mm\nz = -44.12 mm\n",[20,450,448],{"__ignoreMap":37},[393,452],{},[408,454],{"alt":37,"src":455},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1790078332238-5fadb21a.webp",[32,457,460],{"className":458,"code":459,"language":122,"meta":37},[120],"front_mid360 = LiDAR 点云 O 点\n        ●\n        │\n        │  (+11, +23.29, -44.12) mm\n        │\n        ● IMU 芯片原点\n",[20,461,459],{"__ignoreMap":37},[393,463],{},"这里先提前说明下``front_mid360`就是雷达的O_XYZ原点，具体怎么推出来的，请往下看。",[381,466,467],{"start":51},[384,468,469],{},"mid360的pose",[32,471,473],{"className":34,"code":472,"language":36,"meta":37,"style":37},"\u003C!--livox-->\n\u003Cxmacro_block\n    name=\"livox\"\n    prefix=\"front_\"\n    parent=\"chassis\"\n    pose=\"0.16 0.0 0.18 ${pi\u002F6} 0.0 ${pi\u002F2}\"\n    ...\n\u002F>\n",[20,474,475,480,487,497,508,519,530,536],{"__ignoreMap":37},[41,476,477],{"class":43,"line":44},[41,478,479],{"class":47},"\u003C!--livox-->\n",[41,481,482,484],{"class":43,"line":51},[41,483,275],{"class":54},[41,485,486],{"class":58},"xmacro_block\n",[41,488,489,492,494],{"class":43,"line":314},[41,490,491],{"class":62},"    name",[41,493,66],{"class":54},[41,495,496],{"class":69},"\"livox\"\n",[41,498,500,503,505],{"class":43,"line":499},4,[41,501,502],{"class":62},"    prefix",[41,504,66],{"class":54},[41,506,507],{"class":69},"\"front_\"\n",[41,509,511,514,516],{"class":43,"line":510},5,[41,512,513],{"class":62},"    parent",[41,515,66],{"class":54},[41,517,518],{"class":69},"\"chassis\"\n",[41,520,522,525,527],{"class":43,"line":521},6,[41,523,524],{"class":62},"    pose",[41,526,66],{"class":54},[41,528,529],{"class":69},"\"0.16 0.0 0.18 ${pi\u002F6} 0.0 ${pi\u002F2}\"\n",[41,531,533],{"class":43,"line":532},7,[41,534,535],{"class":54},"    ...\n",[41,537,539],{"class":43,"line":538},8,[41,540,113],{"class":54},[542,543,544,547,550],"ul",{},[384,545,546],{},"这个 pose 是 ： chassis 坐标系 → front_mid360 坐标系",[384,548,549],{},"按北极熊这个来，是严格相对于 chassis 原点。",[384,551,552,553,556,557,559,560,562],{},"他的雷达是装在底盘上的，所以",[20,554,555],{},"parent=\"chassis\"","，如果雷达要装在云台，就改成",[20,558,130],{},"，那么偏移也会变成相对于",[20,561,162],{}," 坐标系的偏移。.",[32,564,567],{"className":565,"code":566,"language":122,"meta":37},[120],"x = +0.16 m\ny =  0\nz = +0.18 m\n",[20,568,566],{"__ignoreMap":37},[393,570],{},"意思是 Mid360 O原点相对于 chassis 原点：",[32,573,576],{"className":574,"code":575,"language":122,"meta":37},[120],"向前 160 mm\n左右不偏\n向上 180 mm\n",[20,577,575],{"__ignoreMap":37},[393,579],{},"他这里pose的后三个参数是RPY,也就是相对于chassis 原点的偏移：",[32,582,585],{"className":583,"code":584,"language":122,"meta":37},[120],"roll  = π\u002F6 = 30°\npitch = 0°\nyaw   = π\u002F2 = 90°\n",[20,586,584],{"__ignoreMap":37},[393,588],{},"经过测量，只有roll偏了40度，也就是",[20,591,592],{},"${2*pi\u002F9}",[393,594],{},"另外你在 Mid360 model 里还会看到：",[32,597,599],{"className":34,"code":598,"language":36,"meta":37,"style":37},"\u003Cvisual>\n    \u003Cpose>0 0 0 0 0 ${pi}\u003C\u002Fpose>\n",[20,600,601,610],{"__ignoreMap":37},[41,602,603,605,608],{"class":43,"line":44},[41,604,275],{"class":54},[41,606,607],{"class":58},"visual",[41,609,296],{"class":54},[41,611,612,614,616,619,621],{"class":43,"line":51},[41,613,301],{"class":54},[41,615,319],{"class":58},[41,617,618],{"class":54},">0 0 0 0 0 ${pi}\u003C\u002F",[41,620,319],{"class":58},[41,622,296],{"class":54},[393,624],{},"这个只是外观 mesh 转了 180°，不等于雷达传感器 frame 转了 180°。不要拿这个来算 TF。",[381,627,628],{},[384,629,630],{},"mid360到底量它外壳哪个点？",[393,632],{},"这里还要再精确一层。\n北极熊当前 Mid360 模型内部是：",[32,635,637],{"className":34,"code":636,"language":36,"meta":37,"style":37},"\u003Cjoint ...>\n    \u003Cchild>${prefix}mid360\u003C\u002Fchild>\n\u003C\u002Fjoint>\n\n\u003Clink name=\"${prefix}mid360\">\n",[20,638,639,649,662,671,677],{"__ignoreMap":37},[41,640,641,643,646],{"class":43,"line":44},[41,642,275],{"class":54},[41,644,645],{"class":58},"joint",[41,647,648],{"class":54}," ...>\n",[41,650,651,653,656,658,660],{"class":43,"line":51},[41,652,301],{"class":54},[41,654,655],{"class":58},"child",[41,657,307],{"class":54},[41,659,655],{"class":58},[41,661,296],{"class":54},[41,663,664,667,669],{"class":43,"line":314},[41,665,666],{"class":54},"\u003C\u002F",[41,668,645],{"class":58},[41,670,296],{"class":54},[41,672,673],{"class":43,"line":499},[41,674,676],{"emptyLinePlaceholder":675},true,"\n",[41,678,679,681,684,686,688,691],{"class":43,"line":510},[41,680,275],{"class":54},[41,682,683],{"class":58},"link",[41,685,63],{"class":62},[41,687,66],{"class":54},[41,689,690],{"class":69},"\"${prefix}mid360\"",[41,692,296],{"class":54},[393,694],{},"这里的",[20,697,698],{},"${prefix}mid360","会被解析为",[20,701,258],{},[393,703],{},[243,705,706,707,709],{},"这个",[20,708,258],{},"一直很懵逼，他到底是什么？","\n他在readme里写的仿真里是简化的，所以不要在仿真里反推这个坐标系的原点到底是什么？\n在reality的Point LIO里你可以看到",[20,712,713],{},"extrinsic_T: [-0.011, -0.02329, 0.04412]","，这正是官方IMU的偏移。\n而",[20,716,717],{},"frame_id = front_mid360","，所以说，反推出来",[20,720,258],{},"是我们点云的坐标系，也就是O_XYZ.",[393,723],{},"而北极熊的 LiDAR 光学\u002F扫描传感器实际上还额外：",[32,726,728],{"className":34,"code":727,"language":36,"meta":37,"style":37},"\u003Csensor name=\"${prefix}mid360_lidar\" ...>\n\u003Cpose>0 0 0.03 0 0 0\u003C\u002Fpose>\n",[20,729,730,744],{"__ignoreMap":37},[41,731,732,734,736,738,740,742],{"class":43,"line":44},[41,733,275],{"class":54},[41,735,278],{"class":58},[41,737,63],{"class":62},[41,739,66],{"class":54},[41,741,285],{"class":69},[41,743,648],{"class":54},[41,745,746,748,750,752,754],{"class":43,"line":51},[41,747,275],{"class":54},[41,749,319],{"class":58},[41,751,322],{"class":54},[41,753,319],{"class":58},[41,755,296],{"class":54},[32,757,760],{"className":758,"code":759,"language":122,"meta":37},[120],"front_mid360 link 原点\n        │\n        │ +30 mm\n        ▼\nLiDAR 扫描原点\n",[20,761,759],{"__ignoreMap":37},[393,763],{},"而 IMU：",[32,766,768],{"className":34,"code":767,"language":36,"meta":37,"style":37},"\u003Csensor name=\"${prefix}mid360_imu\" type=\"imu\">\n",[20,769,770],{"__ignoreMap":37},[41,771,772,774,776,778,780,783,785,787,790],{"class":43,"line":44},[41,773,275],{"class":54},[41,775,278],{"class":58},[41,777,63],{"class":62},[41,779,66],{"class":54},[41,781,782],{"class":69},"\"${prefix}mid360_imu\"",[41,784,288],{"class":62},[41,786,66],{"class":54},[41,788,789],{"class":69},"\"imu\"",[41,791,296],{"class":54},[393,793],{},"没有额外 pose，所以当前仿真里基本相当于：IMU 原点 = front_mid360 原点",[381,796,797],{"start":51},[384,798,799],{},"mid360最后各个数据究竟填什么？",[393,801],{},[20,803,258],{},"为mid360的O_XYZ的原点。",[393,806],{},"那么Mid360官方点云原点就和O_XYZ原点重合。\n那么Mid360官方IMU原点就和O_XYZ有(+11, +23.29, -44.12)mm的偏移量。（但这里没必要给pose,在point_lio里给pose即可）",[393,809],{},"所以",[32,812,814],{"className":34,"code":813,"language":36,"meta":37,"style":37},"\u003C!-- chassis -> Mid360 官方点云 O -->\n\u003Cxmacro_block\n    name=\"livox\"\n    prefix=\"front_\"\n    parent=\"chassis\"\n    pose=\"实际 x 实际 y 实际 z 实际 roll 实际 pitch 实际 yaw\"\n\u002F>\n",[20,815,816,821,827,835,843,851,860],{"__ignoreMap":37},[41,817,818],{"class":43,"line":44},[41,819,820],{"class":47},"\u003C!-- chassis -> Mid360 官方点云 O -->\n",[41,822,823,825],{"class":43,"line":51},[41,824,275],{"class":54},[41,826,486],{"class":58},[41,828,829,831,833],{"class":43,"line":314},[41,830,491],{"class":62},[41,832,66],{"class":54},[41,834,496],{"class":69},[41,836,837,839,841],{"class":43,"line":499},[41,838,502],{"class":62},[41,840,66],{"class":54},[41,842,507],{"class":69},[41,844,845,847,849],{"class":43,"line":510},[41,846,513],{"class":62},[41,848,66],{"class":54},[41,850,518],{"class":69},[41,852,853,855,857],{"class":43,"line":521},[41,854,524],{"class":62},[41,856,66],{"class":54},[41,858,859],{"class":69},"\"实际 x 实际 y 实际 z 实际 roll 实际 pitch 实际 yaw\"\n",[41,861,862],{"class":43,"line":532},[41,863,113],{"class":54},[393,865],{},"然后 Mid360 仿真内部：",[32,868,870],{"className":34,"code":869,"language":36,"meta":37,"style":37},"\u003Csensor name=\"${prefix}mid360_lidar\" type=\"gpu_lidar\">\n\u003Cpose>0 0 0 0 0 0\u003C\u002Fpose>\n",[20,871,872,892],{"__ignoreMap":37},[41,873,874,876,878,880,882,884,886,888,890],{"class":43,"line":44},[41,875,275],{"class":54},[41,877,278],{"class":58},[41,879,63],{"class":62},[41,881,66],{"class":54},[41,883,285],{"class":69},[41,885,288],{"class":62},[41,887,66],{"class":54},[41,889,293],{"class":69},[41,891,296],{"class":54},[41,893,894,896,898,900,902],{"class":43,"line":51},[41,895,275],{"class":54},[41,897,319],{"class":58},[41,899,375],{"class":54},[41,901,319],{"class":58},[41,903,296],{"class":54},[393,905],{},"而IMU这边，北极熊的方案我看懂了，虽然他让IMU坐标系与点云坐标系直接重合，并且仿真里也是重合的。\n而在reality里，他是",[20,908,713],{},"，这里明显是已经考虑到了这个偏移，所以我们没必要修改IMU的坐标系偏移。",[16,911,912],{},"先平行于底面，做一个参考基准面。",[16,914,915],{},[408,916],{"alt":917,"src":918},"alt text","https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189096835.webp",[16,920,921],{},"再基于这个面进行画草图，然后点击底面，点转换实体。",[16,923,924],{},[408,925],{"alt":917,"src":926},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189098583.webp",[16,928,929],{},"在这个面上把中点标出来。（这个点就是点云OXYZ点）",[16,931,932],{},[408,933],{"alt":917,"src":934},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189100589.webp",[16,936,937],{},"再测量点云OXYZ点到底盘中点（轮轴中点）的距离。",[16,939,940],{},"如下图，朝后偏X=-2.99mm，朝左偏Y=104.69mm，朝上偏Z=255.58mm + 50.46mm = 306.04mm",[16,942,943],{},[408,944],{"alt":917,"src":945},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189102221.webp",[16,947,948],{},[408,949],{"alt":917,"src":950},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189103993.webp",[16,952,953],{},[408,954],{"alt":917,"src":955},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189238624.webp",[16,957,958],{},[408,959],{"alt":917,"src":960},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189240436.webp",[16,962,963],{},"然后横滚偏roll = 45°，deg2rad = 0.25pi\n然后航向角偏yaw = 180°，deg2rad = pi",[16,965,966],{},[408,967],{"alt":917,"src":968},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2026\u002F09\u002F20\u002F1791189242284.webp",[16,970,971],{},"这还没完，刚才只是测到底盘的距离，而我们真正挂在云台Yaw上，所以z要减去底盘到云台yaw的距离，所以最终朝上偏移 z = 255.58mm + 50.46mm - 210.46mm = 95.58mm",[32,973,975],{"className":34,"code":974,"language":36,"meta":37,"style":37},"        \u003C!--livox-->\n        \u003Cxmacro_block name=\"livox\" prefix=\"front_\" parent=\"gimbal_yaw\" pose=\"-0.00299 0.10469 0.30604 ${pi\u002F4} 0 ${pi}\" update_rate=\"20\" samples=\"1875\"\u002F>\n",[20,976,977,981],{"__ignoreMap":37},[41,978,979],{"class":43,"line":44},[41,980,48],{"class":47},[41,982,983,985,987,989,991,993,995,997,999,1001,1003,1005,1007,1009,1012,1014,1016,1018,1020,1022,1024],{"class":43,"line":51},[41,984,55],{"class":54},[41,986,59],{"class":58},[41,988,63],{"class":62},[41,990,66],{"class":54},[41,992,70],{"class":69},[41,994,73],{"class":62},[41,996,66],{"class":54},[41,998,78],{"class":69},[41,1000,81],{"class":62},[41,1002,66],{"class":54},[41,1004,215],{"class":69},[41,1006,89],{"class":62},[41,1008,66],{"class":54},[41,1010,1011],{"class":69},"\"-0.00299 0.10469 0.30604 ${pi\u002F4} 0 ${pi}\"",[41,1013,97],{"class":62},[41,1015,66],{"class":54},[41,1017,102],{"class":69},[41,1019,105],{"class":62},[41,1021,66],{"class":54},[41,1023,110],{"class":69},[41,1025,113],{"class":54},[16,1027,1028],{},"综上，你应该需要的数据是：",[32,1030,1033],{"className":1031,"code":1032,"language":122,"meta":37},[120],"1. 轮子实际直径\n\n2. 前后轮中心轴距\n   前轮中心 → 后轮中心\n\n3. 左右轮中心轮距\n   左轮中心面 → 右轮中心面\n\n4. chassis 刚性主体：\n   X 方向长度\n   Y 方向宽度\n   Z 方向高度\n\n5. chassis\u002F轮轴中心 → 云台 yaw 旋转轴中心：\n   Δx\n   Δy\n   Δz\n\n   如果云台不在底盘正中央，x\u002Fy 也得知道。\n\n6. yaw 旋转轴中心 → 云台 pitch 旋转轴中心：\n   Δx\n   Δy\n   Δz\n\n7. Mid360 如果挂 chassis：\n   chassis 原点 → Mid360 reference frame（mid360的原点：距离底面中心高47mm处）\n   Δx Δy Δz\n   roll pitch yaw\n\n   如果挂 gimbal_yaw：\n   yaw 轴原点 → Mid360 reference frame（mid360的原点：距离底面中心高47mm处）\n   Δx Δy Δz\n   roll pitch yaw\n",[20,1034,1032],{"__ignoreMap":37},[16,1036,1037],{},"修改完后：",[32,1039,1043],{"className":1040,"code":1041,"language":1042,"meta":37,"style":37},"language-bash shiki shiki-themes github-light github-dark","chmod +x .\u002Fsrc\u002Frmoss_gz_resources\u002Fupdate_model.sh\n.\u002Fsrc\u002Frmoss_gz_resources\u002Fupdate_model.sh\n","bash",[20,1044,1045,1056],{"__ignoreMap":37},[41,1046,1047,1050,1053],{"class":43,"line":44},[41,1048,1049],{"class":62},"chmod",[41,1051,1052],{"class":69}," +x",[41,1054,1055],{"class":69}," .\u002Fsrc\u002Frmoss_gz_resources\u002Fupdate_model.sh\n",[41,1057,1058],{"class":43,"line":51},[41,1059,1060],{"class":62},".\u002Fsrc\u002Frmoss_gz_resources\u002Fupdate_model.sh\n",[1062,1063,1064],"style",{},"html pre.shiki code .sJ8bj, 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