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Localization with GNSS for autoware version12

asked 2020-03-11 17:34:45 -0600

huifeng gravatar image

I want to perform localization with GNSS data and I am located in Sweden. Now I have converted llh to ECEF coordinate. I calculate the offset between the gps and the origin of the map. Then I have two questions:1. In fix2tfpose.cpp, can I make gnss_pose.x= geo.x gnss_pose.y= geo.y gnss_pose.z= geo.z? I do not understand why they exchanged x and y in the code? 2. How can I bind lidar based ndt_pose with gnss_pose? Are they both using ECEF cartesian coordinates?

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answered 2020-03-12 22:22:30 -0600

Josh Whitley gravatar image

Unfortunately, Autoware 1.12.0 does not support localization using GPS coordinates because the architecture assumes (in several places) that the Japanese Rectangular Plane coordinate system is being used. This feature is being added in the 1.14.0 release (see which will be released on 2020/06/01.

That being said, the guys at AutonomouStuff (calling @IanCol) have implemented this feature on their fork so it's something you may be able to work with them on.

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Thanks for the answer. I wonder if I point the car into the northern direction when making the rosbag file for creating pcd map, can I understand I transfer the customized map frame to local cartesian coordinate? Then the map frame is aligned with gps frame? Thanks!

huifeng gravatar image huifeng  ( 2020-03-14 13:33:38 -0600 )edit

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Asked: 2020-03-11 17:34:45 -0600

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Last updated: Mar 12 '20