How to change ndt_pose to current_pose in AutowareAuto,
I want to run a series of events for self-driving with AutowareAuto. A series of events means obtaining point cloud with Lidar, then estimating the current pose, and then following the path. To realize this, I think that it is needed to launch the p2d_ndt_localizer_node node and pure_pursuit_controller node. The p2d_ndt_localizer_node node publishes the ndt_pose topic. On the other hand, the pure_pursuit_controller node subscribes the current_pose topic which is called as the vehicle_kinematic_state. The types of ndt_pose and current_pose are difference. I was confused how to connect the p2d_ndt_localizer_node node to the pure_pursuit_controller node. In other words, I don't know which node will convert the topic from the ndt_pose topic to the current_pose topic.
The demo files (launch files) launch nodes for LGSVL simulator.
The command ros2 launch test_trajectory_following trajectory_recording_pure_pursuit.launch.py launces the pure_pursuit_controller node, which receives the current_pose published by LGSVL simulator.
The command ros2 launch autoware_demos autoware_adademy_ndt_demo_no_odometry.launch.py launces the p2d_ndt_localizer_node, which only publishes the ndt_pose to LGSVL simulator.
I don't want to run with LGSVL simulator. I want to run a series of events of AutowareAuto. How to transform the ndt_pose topic to the current_pose topic? How do I make the pure_pursuit_controller receive the ndt_pose?
