Autoware Localization Failure
I often get a lot of failures with localization. The indicator for localization (circular red Lidar lines) flies around randomly.
This problem can occur at any time whether the vehicle is moving or not. It is more frequent more at the at the start. One thing that I have observed is that it occurs occur more frequently using LGSVL simulator and my one field data than in Gazebo. (I do not use GPS since I am not in Japan). With Gazebo, the problem is rare and I think I have seen it only occurring at the start.
I have also read about other people getting this problem like in these links https://www.youtube.com/watch?v=3mPNi... https://www.youtube.com/watch?v=vd9Bw... https://discourse.ros.org/t/i-cant-us...
Environment Ubuntu 16.04 ROS Kinetic Autoware 1.11.0
you didn't have sufficient karma for that, so we can't see anything.
I've fixed that, so please (re)attach the gif.
You need to be more specific about what "a lot of failures" means. When do they happen? Is it always at the start? What sort of data are you using? Please review the support guidelines for what information you should provide and update your question.
I have already mentioned what a lot of failures means by saying the lidar circular lines flies around randomly as shown in the video links. I have also updated my question above.
I don't mean what the failure is, I mean that "a lot of failures" tells us nothing about how often they actually occur nor when then occur for you. If possible you should provide a sample that exhibits the problem so that others can debug it rather than just make guesses at the cause.
I have already mentioned some of what you are asking above. The failure rate is generally over 70% for LGSVL and field testing. I have also been trying to attach a gif to explain my position but the site does not attach it. But it is just similar to the video links above. Please open the links above,
You said you are not using GPS, but your GNSS option is enabled for ndt_matching (at least from what I see in your video) Can you try turning it off?
The videos are not mine. But is something similar to what I experienced. I am yet to test the solution provided by Maximus5684 below.