Revision history [back]

Hello,

No problem, I can help.

I just fixed this issue for Autoware1.13 yesterday :)

The issue is that imm_ukf_pda_track output the Objects data in "velodyne" frame. But OpenPlanner expects it to be in "map" frame. also the topic names are different.

so how to solve this problem:

Solution 1:

• In lidar_euclidean_cluster_detect, set the output frame to be "map"
• Use lidar_kf_contour_tracker.

Solution 2:

• Add a bridge node that transform the output from imm_ukf_pda_track to "map" frame and publish it with the same topic as in op_motion_predictor.

Hope This is helpful.

Regards,