Generate local map for msf localization

[wqklihbf]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):Linux Ubuntu 20.04
• Apollo installed from (source or binary): source
• Apollo version (3.5, 5.0, 5.5, 6.0): 8.00

我在进行apollo和carla的联合仿真。为了启动msf定位，我使用脚本msf_simple_map_creator.sh尝试生成local_map。我使用cyber_recorder录制了record文件，然后使用命令/apollo/scripts/msf_simple_map_creator.sh /apollo/record_file/0226/ /apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml 10 /apollo/records/map/生成定位需要的地图。 命令运行到最后出错： 在输出目录/local_map/image/000/north/10下，只有这一个文件夹： 里面只有一张图片： 之后我启动了msf定位，但是在仿真的时候没有作用。我使用cyber_monitor发现msf_status,msf_gnss, msf_lidar这些主题是红色的。我想知道错在哪里。 另外还有一个脚本是msf_local_map_creator.sh，这个好像也可以生成local_map，但是运行脚本需要的参数pcd folder, pose file和zone id我不知道要怎么获得。

[HyeonnSeo]

I have same issue. Did you solve the problem?

[wqklihbf]

No, I haven't solved the problem.

	@.***

@.*** |

---- Replied Message ---- | From | HyeonSeo @.> | | Date | 02/28/2024 13:10 | | To | @.> | | Cc | @.>@.> | | Subject | Re: [ApolloAuto/apollo] Generate local map for msf localization (Issue #15307) |

I have same issue. Did you solve the problem?

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

[HyeonnSeo]

No, I haven't solved the problem. | | @. | | @. | … ---- Replied Message ---- | From | HyeonSeo @.> | | Date | 02/28/2024 13:10 | | To | @.> | | Cc | @.>@.> | | Subject | Re: [ApolloAuto/apollo] Generate local map for msf localization (Issue #15307) | I have same issue. Did you solve the problem? — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

I used the script msf_local_map_creator.sh with pcd files and pose.txt . I could make the pcd files from .record file using /apollo/bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser. You can refer to https://github.com/ApolloAuto/apollo/issues/10158

[wqklihbf]

No, I haven't solved the problem. | | @. | | @. | … ---- Replied Message ---- | From | HyeonSeo @.**> | | Date | 02/28/2024 13:10 | | To | @.**> | | Cc | @.>@.> | | Subject | Re: [ApolloAuto/apollo] Generate local map for msf localization (Issue #15307) | I have same issue. Did you solve the problem? — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

I used the script msf_local_map_creator.sh with pcd files and pose.txt . I could make the pcd files from .record file using /apollo/bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser. You can refer to https://github.com/ApolloAuto/apollo/issues/10158

很抱歉再次打扰你。我想问一下另外两个参数pose.txt与zone id是怎么获得呢？ 你使用这个脚本成功生成了msf定位需要的地图了吗？

[HyeonnSeo]

No, I haven't solved the problem. | | @. | | @. | … ---- Replied Message ---- | From | HyeonSeo @.**> | | Date | 02/28/2024 13:10 | | To | @.**> | | Cc | @.>@.> | | Subject | Re: [ApolloAuto/apollo] Generate local map for msf localization (Issue #15307) | I have same issue. Did you solve the problem? — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

I used the script msf_local_map_creator.sh with pcd files and pose.txt . I could make the pcd files from .record file using /apollo/bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser. You can refer to https://github.com/ApolloAuto/apollo/issues/10158

很抱歉再次打扰你。我想问一下另外两个参数pose.txt与zone id是怎么获得呢？ 你使用这个脚本成功生成了msf定位需要的地图了吗？

pose.txt is consist of extrinsic parameter between Lidar and ego. Then you have to write your own pose.txt file. In the pose.txt, you need to give numbers of each pcd file's name.