Comply with autoware's Localization design

NMBURobotics / vox_nav

A navigation system for outdoor robotics in rough uneven terrains.

https://nmburobotics.github.io/vox_nav/

Apache License 2.0

213 stars 41 forks source link

Comply with autoware's Localization design #2

Closed jediofgever closed 3 years ago

jediofgever commented 3 years ago

https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/localization/design/localization-design.md

Localization stack from Autoware seems well designed, Consider to comply current localization with this.

ROS discourse post ; https://discourse.ros.org/t/localization-architecture/8602

jediofgever commented 3 years ago

Actually There is not EKF, UKF in autoware yet, so they aren't fusing additional sensors such as GPS,IMU or additional odometery sources. They are relying on NDT for map->base_link. Though the transforms, conventions and concepts are nicely explained in the design page above link.

jediofgever commented 3 years ago

Addressed by 4327aa5a3639bb63bf1b235f3d983a3a536965c0