add GNSS type; improve error handling; fix velodyne sensor names

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

aip_urdf_compiler/scripts/compile_xacro.py

@@ -31,12 +31,21 @@ def load_yaml(file_path: str) -> Dict:
     Returns:
         Dict: Parsed YAML content or None if parsing fails
     """
-    with open(file_path, "r") as stream:
-        try:
-            return yaml.safe_load(stream)
-        except yaml.YAMLError as exc:
-            print(exc)
-            return None
+    try:
+        with open(file_path, "r") as stream:
+            content = yaml.safe_load(stream)
+            if content is None:
+                raise ValueError(f"YAML file is empty or invalid: {file_path}")
+            if not isinstance(content, dict):
+                raise ValueError(f"YAML file must contain a dictionary: {file_path}")
+            return content
+
+    except FileNotFoundError:
+        raise FileNotFoundError(f"YAML file not found: {file_path}")
+    except yaml.YAMLError as exc:
+        raise yaml.YAMLError(f"Failed to parse YAML file {file_path}: {str(exc)}")
+    except Exception as e:  # Add general exception handling
+        raise RuntimeError(f"Unexpected error reading YAML file {file_path}: {str(e)}")
 
 
 class Transformation:
@@ -177,9 +186,10 @@ class LinkType(enum.Enum):
     PANDAR_XT32 = "pandar_xt32"
     PANDAR_QT = "pandar_qt"
     PANDAR_QT128 = "pandar_qt128"
-    VELODYNE16 = "VLP-16.urdf"
-    VLS128 = "VLS-128.urdf"
+    VELODYNE16 = "velodyne_16"
+    VLS128 = "velodyne_128"
     RADAR = "radar"
+    GNSS = "gnss"
     JOINT_UNITS = "units"
 
 
@@ -202,9 +212,12 @@ def determine_link_type(link_name: str) -> LinkType:
     if "cam" in link_name:
         return LinkType.CAMERA
 
-    if "imu" in link_name or "gnss" in link_name:
+    if "imu" in link_name:
         return LinkType.IMU
 
+    if "gnss" in link_name:
+        return LinkType.GNSS
+
     if "livox" in link_name:
         return LinkType.LIVOX
 
@@ -330,6 +343,10 @@ def VLS128_func(transform: Transformation) -> str:
         "including_file": "$(find imu_description)/urdf/imu.xacro",
         "string_api": functools.partial(base_string_func, "imu_macro"),
     },
+    LinkType.GNSS: {  # for now, GNSS will also use the imu xacro files.
+        "including_file": "$(find imu_description)/urdf/imu.xacro",
+        "string_api": functools.partial(base_string_func, "imu_macro"),
+    },
     LinkType.VELODYNE16: {
         "including_file": "$(find velodyne_description)/urdf/VLP-16.urdf.xacro",
         "string_api": VLP16_func,

aip_xx1_description/config/sensor_kit_calibration.yaml

@@ -70,31 +70,31 @@ sensor_kit_base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 1.575
-    type: VLS-128.urdf
+    type: velodyne_128
   velodyne_left_base_link:
     x: 0.0
     y: 0.56362
     z: -0.30555
     roll: -0.02
     pitch: 0.71
     yaw: 1.575
-    type: VLP-16.urdf
+    type: velodyne_16
   velodyne_right_base_link:
     x: 0.0
     y: -0.56362
     z: -0.30555
     roll: -0.01
     pitch: 0.71
     yaw: -1.580
-    type: VLP-16.urdf
+    type: velodyne_16
   gnss_link:
     x: -0.1
     y: 0.0
     z: -0.2
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-    type: imu
+    type: gnss
     frame_id: gnss
   tamagawa/imu_link:
     x: 0.0

aip_xx1_description/config/sensors_calibration.yaml

@@ -38,4 +38,4 @@ base_link:
     roll: -0.02
     pitch: 0.7281317
     yaw: 3.141592
-    type: VLP-16.urdf
+    type: velodyne_16

aip_xx1_gen2_description/config/sensor_kit_calibration.yaml

@@ -120,7 +120,7 @@ sensor_kit_base_link:
     roll: 0.0 # Design Value
     pitch: 0.0 # Design Value
     yaw: 0.0 # Design Value
-    type: imu
+    type: gnss
     frame_id: gnss
   tamagawa/imu_link:
     x: -0.129 # Design Value