Wrong visualization in Autoware
Hi,
I tried to modify the lidar localizer (ndt_matching) of Autoware into a rtk localizer. I basically use the position and orientation of original GPS input to overwrite the /current_pose topic. However, after modifying the code, even though the position is correct, I met the following visualization problem: The lidar raw points will rotate when the car move. The shape of LiDAR can not match the map. (Sorry I can not upload the pic here.)
I think this problem is caused by the tf msgs (from base_link to map) I sent. It would be really nice if someone can help me with this or give me some hints that which tf msgs is wrong.
Thanks a lot!