[Autoware] Inclined localizer, wrong detected obstacle height
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?
Screenshots: url
Ubuntu 16.04 Ros Kinetic Autoware 1.9