MSF is not able to run with bag files

cuicuihaohaoxuexi commented 4 years ago

The system information is as below:

Ubuntu 14.04
Apollo directly from GitHub source
Apollo 3.5

When we ran the autonomy with MSF localization in a test, we collected some bags (record files). Then we want to see different performances with different MSF parameters. What we do is that we play the bags, black channel the localization-related topics (e.g. /msf_status, /msf_lidar, /msf_gnss, /pose) and run a live MSF localization module. However, the MSF module is never launched. So my question is that is anything of my launch process for MSF module wrong? Or MSF just doesn't support for a off-line test with bag files? Thanks!

Best, Yibo

luanjinlu commented 4 years ago

use msf localization need some precondition, eg. LiDAR pointcloud map, GPS and IMU, U also need modify localization.conf by your own sensor, all these are ok, then msf will be ok. @cuicuihaohaoxuexi

ajay1606 commented 4 years ago

@luanjinlu I am also trying to test the MSF localization module, is it possible to provide a sample dataset if any. Your help much appreciated.

ApolloAuto / apollo

MSF is not able to run with bag files #10267