eve_description

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 lyrical showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 ardent showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 crystal showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 dashing showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 foxy showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 lunar showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jade showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 indigo showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 hydro showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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 noetic showing jazzy. Known supported distros are highlighted in the buttons above.

eve_description package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner 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 lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association 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 eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
jazzy

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/WATonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-08-25
Dev Status	DEVELOPED
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

URDF/Xacro robot model for Eve (Kia Soul EV). Publishes the vehicle TF tree via robot_state_publisher so all other nodes can look up sensor positions and frame relationships at runtime.

Overview

All sensor extrinsics and wheel geometry are defined here in one place. Downstream packages (localization, perception, control) consume these frames via TF rather than hardcoding transforms.

TF Frame Hierarchy

base_link
└── roof_mount
│   ├── camera_pano_nn
│   ├── camera_pano_ne
│   ├── camera_pano_ee
│   ├── camera_pano_se
│   ├── camera_pano_ss
│   ├── camera_pano_sw
│   ├── camera_pano_ww
│   └── camera_pano_nw
│   ├── camera_lower_ne
│   ├── camera_lower_se
│   ├── camera_lower_sw
│   └── camera_lower_nw
├── rear_axle
└── front_axle

Panorama cameras (camera_pano_*): 8 roof-mounted cameras arranged in a circle around roof_mount, each oriented to face outward. Positions are calibrated.

Lower cameras (camera_lower_*): 4 side-mounted cameras. These transforms are nominal placeholders — update them once you have measured or calibrated values (see DEVELOPING.md).

Axle frames (rear_axle, front_axle): Used by can_state_estimator to look up the wheelbase distance at runtime rather than hardcoding it.

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