[Autoware] Inclined localizer and obstacle detection consequences

asked 2019-06-13 04:32:47 -0500

javcursor gravatar image

updated 2019-06-13 13:49:49 -0500

Hi everyone,

I have needed to incline my localizer, in Setup tab I have:

x = 2.2, y = 0, z = 1.86, roll = 0.0, pitch = 0.2138, yaw = 0.0

I have my map and I can navigate it well, but the euclidean_cluster_detect resulting bounding boxes are inclined and the height limits are not well applied. Also aren’t well obstacles from velocity_set

I have seen in lidar_euclidean_cluster_detect/ cluster.cpp line 259

tf::Quaternion quat = tf::createQuaternionFromRPY(0.0, 0.0, rz);

None inclination has been considered, if I put pitch = -0.2138, I can see bounding boxes as they should be but the z position calculated isn't is good.

I pass under a roof that is at 3 meter with respect to base_link and with a height limit above the sensor of 0.3 meter to search obstacles it mark it as obstacle.

I can see using Veloview (after configure x, y, z, and pitch) correct values of x,y,z from this roof.

Any help?

Ubuntu 16.04 Ros Kinetic Autoware 1.9

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