Set up & configure Autoware localization component

[dylan-gonzalez]

Understand Autoware Localization

Break down these steps further:

• [ ] configure launch file
• [x] ensure the relevant localisation nodes have the correct inputs/outputs - see AVP Diagram (click View->Tags, hide everything but M1)
• [ ] create test cases with CI/CD pipeline

One of the main goals is for you to become comfortable with how Autoware localisation works, so get comfortable being able to:

• [ ] turn on/off the different localisation components
• [ ] use different combinations of sensors for localisation

If you need to test Autoware with a simulator, read here.

If you need any help understanding your task, please ask a lead!

[dylan-gonzalez]

@jxcksonli @KehanRana do you guys wanna schedule a call to go over this? Or do you understand

[jxcksonli]

hey dylan, we can do a call on Friday if that's all good with you? i'm not sure what time you'll be free that day but we can do 1pm onwards

[dylan-gonzalez]

Okay let's do 1pm, I'll make a gcal. Update the working days in notion if you'll be there in person

[KehanRana]

Okay sounds good.

On Wed, 29 Nov 2023 at 9:48 pm, Dylan Gonzalez @.***> wrote:

Okay let's do 1pm, I'll make a gcal. Update the working days in notion if you'll be there in person

— Reply to this email directly, view it on GitHub https://github.com/Monash-Connected-Autonomous-Vehicle/autoware/issues/9#issuecomment-1831655290, or unsubscribe https://github.com/notifications/unsubscribe-auth/BA6KK5RUGKEHA7BU5GVAK6DYG4HJDAVCNFSM6AAAAAA72WOFFOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQMZRGY2TKMRZGA . You are receiving this because you were mentioned.Message ID: @.*** com>

[jxcksonli]

Using RQT Node Graph when simulating Autoware:

• Gyro_Odometer: Input and outputs match AVP diagram
• Ekf_Localizer: Input is same as diagram but output (pose or biased_pose_with_covariance != posewithcovariancestamped, (kinematic_state is ekf_odom?), as stop_filter had kinetmatic_state as input

[dylan-gonzalez]

11-12-23

To try some more testing with Autoware and AWSIM and see if the correct localisation nodes are being outputted

[jxcksonli]

Update on 12/12/2023 (using e2elaunch)

• Gyro_Odometer: Matches the AVP Diagram
• Stop Filter: Input is /localization/pose_twist_function_filter/kinematic_state, but AVP Diagram shows ekf_odom. Output is same as expected
• NDT Scan Matcher: Some topics do not exist when I run ros2 topic list, e.g sensing/lidar/filtered_points and localization/efk_pose_with_covariance, Input: sensing/gnss/pose_with_covariance matches
• EKF Localizer: Inputs match, Outputs are a bit different
• Pose Initialiser Node: Inputs match, Output matches

[jxcksonli]

These are the screenshots from the RQT Graph

Also, we were quite confused because the config files have some of the param.yaml files but not ones such as ekf_localizer, pose_intializer (which can be found at https://github.com/autowarefoundation/autoware_launch/tree/main/autoware_launch/config/localization), but gyro_odometer and stop_filter aren't there. (Which is confusing to us because they also appeared on the RQT Graph but not in the launch/config files itself)

So should we add those other param.yaml files into our config launch because we cannot turn off the components if we can't find them? (Edit: Also forgot to add that Autoware doesn't work anymore? It did last week with the wikis, but the location is now uninitialised :/)