Autoware unable to use ray_ground_filter

Autoware version : 1.13.0
ROS Version Melodic
Autoware installed from Docker
Docker version 19.03.5, build 633a0ea838

Hello everyone, I am trying to use the ray_ground_filter of autoware and it used to work just fine but recently it stopped working and it displays this error :

[ERROR] [1576830223.077886525]: Failed transform from base_link to velodyne

I guess it means that the TF between base_link and velodyne is missing bt it seems very surprising.

And If I choose velodyne as the baseframe parameter of the `rayground_filter` it's simply not working.

Do you have an idea of whats wrong ?

Thanks a lot

Asked by Mackou on 2019-12-20 03:28:53 UTC

Comments

@Mackou Hi, Could you tell me the parameters of ray_ground_filter ? And please share your rosbag if possible.

Asked by Yamato Ando on 2019-12-20 03:56:22 UTC

@Yamato Ando

Thanks for your answer. Here are the parameters : https://imgur.com/a/bjxVgFF

I am using LGSVL simulator when I get this error, but here is a bag file I just recorded from the sim : link

Asked by Mackou on 2019-12-20 04:11:19 UTC

Answers

Thank you for sharing rosbag!

When I checked rosbag, /points_raw/header/stamp was delayed about 35 seconds from /clock/clock. I think TF is failing because of that.

Please set timestamp correctly.

Asked by Yamato Ando on 2019-12-20 05:17:56 UTC