Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Localization with GNSS for autoware version12

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

huifeng
31 ●5 ●7 ●7

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?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

Josh Whitley

1766 ●4 ●72 ●24

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 https://gitlab.com/autowarefoundation...) 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.

edit flag offensive delete link

Comments

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

add a comment

Question Tools

1 follower

Stats

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

Seen: 855 times

Last updated: Mar 12 '20

Localization with GNSS for autoware version12 edit

1 Answer

Comments

Question Tools

Stats

Related questions

Localization with GNSS for autoware version12