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Autoware unable to use ray_ground_filter

asked 2019-12-20 02:28:53 -0500

Mackou gravatar image

updated 2019-12-20 02:31:44 -0500

  • 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 base_frame parameter of the ray_ground_filter it's simply not working.

Do you have an idea of whats wrong ?

Thanks a lot

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

Yamato Ando gravatar image Yamato Ando  ( 2019-12-20 02:56:22 -0500 )edit

@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

Mackou gravatar image Mackou  ( 2019-12-20 03:11:19 -0500 )edit

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answered 2019-12-20 04:17:56 -0500

Yamato Ando gravatar image

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.

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Asked: 2019-12-20 02:28:53 -0500

Seen: 334 times

Last updated: Dec 20 '19