Autoware laserscan2costmap creates map with wrong orientation
I am using Ubuntu 18.04 and Autoware 1.13 installed from source following the wiki page instructions.
When I try to create a costmap from my laserscan using the laserscan2costmap node from Autoware Runtime Manager, the orientation of the /ring_ogm output is not correct. Is it rotated with regards to the sensor frame.
Steps to reproduce the bug
- Launch runtime manager and enable
- RViZ and laserscan2costmap node from the Computing tab.
- Load this bag in the Simulation tab.
- In the
laserscan2costmapnode, set as scan topic/front_laser/scanand as sensor frame:front_laser_base_link - In RViZ visualize the
/front_laser/scanand the/ogm_ringtopics. - Run the ROSbag
The result is shown in the following screenshot. Normally the costmap should be rotated anticlockwise 90 degrees to match the sensor frame.
Asked by kosmastsk on 2020-07-21 12:20:36 UTC
Comments
I realized that when viewing the TF frames in RViZ, the
front_laser_base_linkframe's orientation is not forward, as the laser scan is. This could be probably connected to the issue, but why?Asked by kosmastsk on 2020-07-23 13:04:40 UTC