Autoware NDT_Matching not matching

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Hello,

I am currently attempting to run Autoware’s ndt_matching process with little success. I have gotten the ndt_matching to work in the ROSBAG Demo provided on the gitlab with the suggested/preset settings and with changing it from starting with GNSS to starting at an initial position of [0,0,0,0,0,0] and changing the type of matching (pcl_generic, pcl_anh, and pcl_openmp).

So far I have built a few .pcd map files with the ndt_mapping process and have attempted to use that to localize off of using a similar process to what is described in the example launch files:

• my_mapping.launch with tf_launch (with the world to map transform set to 0,0,0 instead of the default values in the usual tf.launch) and the points_map_loader node with the .pcd file I created previously.
• my_sensing.launch with a driver for a 64-plane Ouster LiDAR that outputs a topic /os1_cloud_node/points in PointCloud2 format and a driver for a Microstrain IMU that outputs /gps/fix and translates that into the /fix topic required by ndt_matching (of msg type NavSatFix)

• my_localization.launch:

  • setup_tf.launch of base_link to os1_lidar
  • vehicle_model.launch that loads the urdf file for my vehicle and starts the joint_state_publisher and robot_state_publisher nodes
  • points_downsample.launch where it looks at the /os1_cloud_node/points topic (remaped from the /points_raw topic) for point values and I have tried multiple values for the voxel_grid_filter
  • fix2tfpose.launch

  I then go in manually to add the ndt_matching from the Runtime Manager (and have started also using ndt_matching_monitor from there as well).

Since the ndt_mapping process does not seem to include gnss data from the bag file, I initialize the position with [0,0,0,0,0,0]. Predict Pose is ON. I have increased and decreased the following values individually and in combination: Error Threshold, Resolution, Step Size, Transformation Epsilon, and Maximum Iterations for three of the four Method Types (pcl_generic, pcl_anh, and pcl_openmp) {did not use the pcl_anh_gpu due to memory errors on my computer related to the gpu} I am not using Odometry nor IMU but I do have Get Height checked because that was what the original ndt_matching had as its option on the original my_localization.launch. I have started with the preset settings (the ones that are used and work on the ROSBAG demo) of Error Threshold=1, Resolution=1, Step Size=0.1, Transformation Epsilon=0.01, and Maximum Iterations=30, but again have increased/decreased those values and tested the results.

I have created 3 .pcd maps: two of the area surrounding my building, with a different [0,0,0] for both, and one inside my lab. Initially, when using the outside maps, I was having the problem (mostly with pcl_openmp) of the ndt_matching initially checking around the start point but then eventually zooming off the map unable to recover. However, now even when I run the map inside my lab and the vehicle has not moved from the position where the map was recorded, the ... (more)