Wrong localization orientation in Autoware

[lchojnack]

The current AWSIM main branch causes wrong localization orientation in Autoware.
I think the issue could be caused by recent orientation changes in the sensor_kit_base_link child components.
More investigation is needed

[mozhoku]

@lchojnack did you get this bug with default scene?

Could you try again after using the dynamic sensor placement tool.

Okay I got the same error. Looking into it.

This morning, when rebasing #71, I've noticed that the all transform values on the default vehicle prefab is 0, that might be the cause.

[lchojnack]

@mozhoku Yes, I've get it on default scene without any changes.

[mozhoku]

Okay found the reason.
When importing the sensor configuration with the dynamic sensor importing tool, the "velodyne_top_base_link" transform gets ~(-90°) rotation on Y axis. After defaulting it to 0° it localizes properly.

Sorry for the trouble. I'll fix it in a separate PR since I'm the one who merged it.

[mozhoku]

Opened a PR for this issue in autoware_individual_params repo:
- autowarefoundation/autoware_individual_params#51

After looking into this with @xmfcx he noticed that top lidars Frame ID is "sensor_kit_base_link". We will change this ID to "velodyne_top_base_link".