Localization Architecture Usage

[mertyavuz41]

Hello,

I want to establish a new localization pipeline like following. I have a bag file which includes /points_raw in base_link frame and /vehicle_twist in base_link frame, I want that be localize on the map using by these messages.

(the greens topics represent that are broadcasting in current situation, but red ones are not broadcasting)

But the localization stack is not working well,

1-) If I not send initialpose from RVIZ, the behavior of the localization like follow video;
https://netorgft4229778-my.sharepoint.com/:v:/g/personal/mert_adastec_com/Ef9sjzHhxOxDobA_ldKg77wBRXWlIdpj9c67Hnvp-jusGg?e=oSDwj4

2-) If I send initialpose from RVIZ,
https://netorgft4229778-my.sharepoint.com/:v:/g/personal/mert_adastec_com/EfcNr3U9k5xDlt4aQCLV9b0B_iRmcCSAWHODg11X7MxTjQ?e=SkSRO9

I think that NDT scan mathcer is not working because the /points_raw is not matching with points_cloud_map. I do not know what am I missing. If someone can help me, I will be grateful.

I am sharing the launch file, points cloud map and full version-shorties version of the rosbag file from the following onedrive link, you can download there.
https://netorgft4229778-my.sharepoint.com/:f:/g/personal/mert_adastec_com/EuqIncg0OelFp0y5BMlkyNoBPGaCp29FMm5K9thYxScmfw?e=qwmwzQ

[takayuki5168]

@YamatoAndo

[YamatoAndo]

@mertyavuz41 Hello,
I checked the rosbag you shared, but the LiDAR point cloud seems to be rotating.
Perhaps it is correct to rotate it 90 degrees clockwise, so reattach the LiDAR unit or adjust the TF(base_link to LiDAR).

demo video. https://user-images.githubusercontent.com/13819566/171319218-ce769688-7adc-45e1-be2d-65d3973c44dc.mp4
It is a bit forced, but it rotates the LiDAR point cloud by 90 degrees in the ndt scan matcher source code.
So note that the points_aligned is properly matched to the map, but the points_raw is not rotated.

[mertyavuz41]

@YamatoAndo Hello,
I have re-attached LIDAR, it has correct direction now. But when the vehicle was turn first corner, the matched points are not match with pcd anymore.

Also, I have upload new bag file(autoware_loc_test_true):
https://netorgft4229778-my.sharepoint.com/:f:/g/personal/mert_adastec_com/ElZOcOEd73dOhc08JGsa3FIBxXm76LF_732kHXX1Cz0dKg?e=GIwNnk

Video: https://netorgft4229778-my.sharepoint.com/:v:/g/personal/mert_adastec_com/EdXC1X1x74pBgOItmxc0JHEB_n3JwedaCyKEgPKzJ317qw?e=bK8dKh

[YamatoAndo]

@mertyavuz41 Hello.
There seems to be an unusual value in angular.z of /vehicle_twist.
autoware_loc_test_2022-05-31-12-33-37.db3 was normal, so could you please check?

autoware_loc_test_2022-05-31-12-33-37.db3

autoware_loc_test_2022-06-02-16-54-37.db3

[mertyavuz41]

@YamatoAndo Hello,

Thanks for your awesome feedbacks. I have increased deviation of the yaw rate, it is better now.

Video: https://netorgft4229778-my.sharepoint.com/:v:/g/personal/mert_adastec_com/EStEkjcPLKlGnB1wjz2LcNIBRly2h7u1dtMo6HX5QTit9w?e=scgF2P

New bag: https://netorgft4229778-my.sharepoint.com/:f:/g/personal/mert_adastec_com/EsStt7FkczhJk-YHgEJmSywBlig0aAWbD4RuTsQQ6Hm2oA?e=EB8isr