Positioning issue causes oversteering

[mikechan0731]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Bus Positioning Issue Leading to Excessive Turning

As seen in the video, the bus exhibits excessive turning when making a corner. Initially, the positioning is accurate (the map point cloud aligns with the positioning point cloud). However, after the turn, there's a discrepancy between the map point cloud and the positioning point cloud.

https://youtu.be/XVD0Epaj_JI

Expected behavior

In a normal scenario:

When the bus makes a turn, it should execute the maneuver smoothly without any excessive turning. The positioning should remain consistent throughout the process, with the map point cloud always aligning perfectly with the positioning point cloud, ensuring accurate and stable navigation.

Actual behavior

As seen in the video, the bus exhibits excessive turning when making a corner. Initially, the positioning is accurate (the map point cloud aligns with the positioning point cloud). However, after the turn, there's a discrepancy between the map point cloud and the positioning point cloud.

Steps to reproduce

1. Start the LiDAR and driver
2. Use the command given to start the autoware.universe locating part of the program: 'ros2 launch autoware_launch autoware.launch.xml map_path:=/home/mfc/maps/itri-map vehicle_model:=cbus_vehicle sensor_model:=sample_sensor_kit'

Versions

1. Autoware.universe Galactic version of the positioning module
2. Sensor we uses an Lidar (Ouster OS1-64).

Possible causes

It is currently hypothesized that the relationship between frame_id: lidar and frame_id: base_link might be incorrect, causing a disconnection during turns.

We will adjust the coordinate system relationship in subsequent steps.

'ros2 run tf2_ros static_transform_publisher 0.0 0.0 2.0 0.0 0.0 0.0 base_link lidar' -> 'ros2 run tf2_ros static_transform_publisher 4.3 0.0 2.0 0.0 0.0 0.0 base_link lidar'

Additional context

We will begin by tracing the program's condition based on the aforementioned hypothesis. This issue might not be updated quickly. We will continue to update as per operational needs. For now, you can set aside this problem. Thank you.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[Motsu-san]

@mikechan0731 Is it OK to close this issue?

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.