Eve Description

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eve_description` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.

Eve Description

This package publishes the Eve vehicle TF tree from a URDF generated from the Xacro files in urdf/.

TF publishing

To start publishing transforms (via robot_state_publisher), run:

ros2 launch eve_description tf_publish.yaml

Nominal pano camera extrinsics (TF)

The 8 roof panorama cameras are defined in the URDF and published as TF frames (all lowercase):

camera_pano_nn
camera_pano_ne
camera_pano_ee
camera_pano_se
camera_pano_ss
camera_pano_sw
camera_pano_ww
camera_pano_nw

For sensor integration, treat base_link as the reference frame and query TF at runtime:

Target frame: base_link
Source frame: camera_pano_*

The camera frames are positioned on a circle around roof_mount and oriented to face outward (see urdf/eve_roof_mount.xacro).

Nominal lower camera extrinsics (TF)

The 4 lower cameras are also defined in the URDF and published as TF frames (all lowercase):

camera_lower_ne
camera_lower_se
camera_lower_sw
camera_lower_nw

These transforms are nominal placeholders intended for early sensor integration. Update the <origin xyz=... rpy=...> blocks in urdf/eve_roof_mount.xacro (macro lower_cameras) once you have measured/calibrated values.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	xacro
	ament_cmake
	joint_state_publisher
	robot_state_publisher

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interfacing_bringup
simulation_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control pid_msgs roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

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Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Eve description for sensor extrinsics and wheel geometry

Maintainers

WATonomous

Authors

No additional authors.