Calib_coloradar.yaml is missing

[Girum-Desalegn]

Hi there,

I couldn’t find calib_coloradar.yaml. When I tried to visualize the ground truth, the EKF odometry drifted at the beginning. I suspect this issue is caused by a calibration problem.

[JJQ7]

Hi, thanks for reporting this.

The extrinsic calibration is not in a separate calib_coloradar.yaml file. In this repository, the relevant extrinsic parameters are defined in:

config/ekf_rio_coloradar.yaml

Specifically, please check lines 34–44 here:

DBE-Radar/config/ekf_rio_coloradar.yaml

Lines 34 to 44 in 36263bf

	## Extrinsic calibration of body frame to radar frame
	# translation of radar frame expressed in body frame
	l_b_r_x: 0.0782222
	l_b_r_y: -0.14925304
	l_b_r_z: 0.02798629
	# rotation radar frame to body frame
	q_b_r_x: 0.99991507
	q_b_r_y: -0.01051748
	q_b_r_z: 0.00507049
	q_b_r_w: -0.00579081

So if you are looking for the Coloradar extrinsics, that is the file to use.