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lidar_euclidean_cluster_detect frame is wrong

asked 2020-10-14 11:22:01 -0500

Mackou

196 ●37 ●55 ●50

updated 2020-10-15 17:17:55 -0500

Hello everyone. I am using the lidar_euclidean_cluster_detect and I have noticed that the frame is wrong in the /detection/objects topic.

In the header I have what I put as output_frame as I expected but the position values are not TFed ! It's still in the same frame as the input (lidar).

Example here : https://imgur.com/a/DxeKvPG The points are still in Lidar frame and not map frame, even if the header says so ! It really looks like a bug.

I just realized that the convex_hull is also wrong in the topic cloud_clusters.

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@Mackou please feel free to open an issue in the repo and I'd encourage you to have a go at opening a PR to fix the problem

sgermanserrano ( 2020-10-15 03:57:49 -0500 )edit

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answered 2020-10-21 08:45:55 -0500

Mackou

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Confirmed bug. My PR : https://gitlab.com/astuff/autoware.ai...

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Hi Mackou, The main autoware development is happening on github https://github.com/Autoware-AI/core_p.... Would love to have your PR there. Today is the PR cut off date for 1.15 release if you submit your PR today, we can release this fix for 1.15.