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[Autoware.Auto] NDT Localisation for AVP demo not working because PCD map not being published

asked 2021-10-08 05:04:37 -0500

sujithvemi gravatar image

I tried to run AVP demo in SVL simulator 2021.3 version using both locally built master branch of Autoware.Auto and pre-built software available in ADE under /opt/AutowareAuto

In both cases the NDT localization steps given in the link are not working.

And I keep getting the following errors.

[lanelet2_map_provider_exe-12] [INFO] [1633686864.518155713] [had_maps.lanelet2_map_provider_node]: Waiting for earth to map transform - please start ndt_map_publisher .... : "earth" passed to lookupTransform argument target_frame does not exist.

I have tried to debug the issue with localization and I saw that the PCD map for the autonomoustuff_parking_lot map I am using is not being published on the /localization/ndt_map and /localization/viz_ndt_map topics although the PCD map data is downloaded and the ndt nodes are running. It shows empty response when trying to do ros2 topic echo with the above topics.

I have also tried to run the nodes manually by using the instructions given at

It also didn't work. In my RViz I can see that there is no point cloud displayed, like in the documentation example RViz. Please let me know if someone is successful with running the AVP demo recently or if there is a way to publish the PCD map properly. Also, if PCD map is not the issue for localization what would probably be a reason for this issue?

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Hello, have you solved the problem? In the same situation as you, I found that there is no point cloud in Rviz after running the three commands given on the official website, and there is no data when subscribing to the topic. Looking forward to your reply!

LiHuA gravatar image LiHuA  ( 2021-10-15 09:01:13 -0500 )edit

I haven't yet solved the issue. I think this is currently a known issue in Autoware. There has been discussion surrounding this point cloud and localization issues in the group and these are listed already. So we have to wait a bit more for this to be fixed. Will reply again when I get any information on its fix.

sujithvemi gravatar image sujithvemi  ( 2021-10-20 05:10:27 -0500 )edit

Thank you for your reply and look forward to your reply again. Of course, I will reply to you if there is any information´╝ü

LiHuA gravatar image LiHuA  ( 2021-10-20 06:57:04 -0500 )edit

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answered 2021-10-23 01:08:12 -0500

Maxime gravatar image

A merge request that fixes this issue has been submitted:

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Asked: 2021-10-08 05:04:37 -0500

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Last updated: Oct 23 '21