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Vector Map drawn in Rviz with a vertical offset

asked 2019-11-26 14:56:20 -0600

Patrick N. gravatar image

I am trying to create a simple two lane vector map using 1. The tier4 web tool 2. This unity based one https://github.com/autocore-ai/MapToo.... Creating the map in the tools seems to work fine but when I load the map using autoware and use Rviz to visualize it. The road marking are always floating about a meter above the loaded pointcloud map.

I'd upload some photos but it won't let me. Has anyone seen this before? What coordinates is the vector map drawing software using to create these Rviz elements?

Any help would be appreciated.

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answered 2020-01-16 00:03:10 -0600

simon-t4 gravatar image

I am not sure about the map builder tools, but perhaps when you create the point cloud map there is some offset from the ground plane due to sensor position?

Perhaps you can manual align by translating the point cloud map? Using the package pcl_tools: pcl_transform_pointcloud input.pcd output.pcd -trans 0,0,1

this would shift the point cloud up one meter.

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Asked: 2019-11-26 14:56:20 -0600

Seen: 43 times

Last updated: Jan 16