Fusion of data from multiple sensors requires precisely matching the perspective of each sensor on the robot to the transforms used to merge the data. These sensor alignments (extrinsic calibration) can be time-consuming to perform. The multi-sensor alignment package presented in this work fills this gap by delivering tools to create an alignment joint for each sensor. The alignment joint includes a dynamic param server to rapidly adjust a sensor’s position and orientation during live operation. Further, the adjusted positions can be saved and automatically loaded on subsequent launches of the node.
