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Wrong visualization in Autoware

asked 2021-06-14 18:46:08 -0500

ZW gravatar image


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!

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answered 2021-07-01 07:21:17 -0500

jo_ gravatar image

I struggled with the ndt_matching setting as well, but succeeded by adjusting the tf frame combination and the initial position setting. Is it possible to share a tf tree or tf file? During autoware simulation, you can use this command to output a pdf of the tf tree configuration.

$ rosrun tf view_frames
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Asked: 2021-06-14 18:46:08 -0500

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Last updated: Jun 14 '21