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@John272 - AutonomouStuff has made minor modifications to 1.11.0 (basically just adding the deadreckoner feature branch and one unrelated change of our own) to our fork on Gitlab. The deadreckoner feature significantly improved localization for us by using vehicle odometry. You can get our fork of the project at https://gitlab.com/astuff/autoware. The default branch that is pulled should be as/master but verify with git status once you have it cloned. Then, all you should have to do is add something like this to your launch file:

<include file="$(find deadreckoner)/launch/deadreckoner.launch"> <arg name="current_twist" default="/vehicle/twist"/> <arg name="current_odom" default="/vehicle/odom"/> </include>

Make sure your vehicle platform is publishing it's current twist and odom to those two topics and then set the use_odom argument of the ndt_matching.launch file to true (or use the GUI to do the same) and it should improve things greatly! Let me know if this works.

@John272 - AutonomouStuff has made minor modifications to 1.11.0 (basically just adding the deadreckoner feature branch and one unrelated change of our own) to our fork on Gitlab. The deadreckoner feature significantly improved localization for us by using vehicle odometry. You can get our fork of the project at https://gitlab.com/astuff/autoware. The default branch that is pulled should be as/master but verify with git status once you have it cloned. Then, all you should have to do is add something like this to your launch file:

<include file="$(find deadreckoner)/launch/deadreckoner.launch">
   <arg name="current_twist" default="/vehicle/twist"/>
  default="/vehicle/twist" />
  <arg name="current_odom" default="/vehicle/odom"/>
  </include>
default="/vehicle/odom" />
</include>

@John272 - AutonomouStuff has made minor modifications to 1.11.0 (basically just adding the deadreckoner feature branch and one unrelated change of our own) to our fork on Gitlab. The deadreckoner feature significantly improved localization for us by using vehicle odometry. You can get our fork of the project at https://gitlab.com/astuff/autoware. The default branch that is pulled should be as/master but verify with git status once you have it cloned. Then, all you should have to do is build with colcon_release add something like this to your launch file:

<include file="$(find deadreckoner)/launch/deadreckoner.launch">
  <arg name="current_twist" default="/vehicle/twist" />
  <arg name="current_odom" default="/vehicle/odom" />
</include>

Make sure your vehicle platform is publishing it's current twist and odom to those two topics and then set the use_odom argument of the ndt_matching.launch file to true (or use the GUI to do the same) and it should improve things greatly! Let me know if this works.