Open GPrathap opened 2 years ago
你好, 我也遇到了这个问题. 结果发现是因为点云地图没有成功导入. 在 autoware-1.14.0 中无法通过 launch 文件的形式导入点云地图, 包括在 Runtime Manager -> Quick Start -> Map 中启动 my_map.launch 也无法导入点云地图. 你可以查看点云地图话题下的消息, 大概率会得到如下输出
$ rostopic echo /points_map
WARNING: no messages received and simulated time is active.
Is /clock being published?
解决办法有两个
以上办法并没有彻底解决该问题, 因为我还不知道这个 bug 出现的真正原因是什么, 如果有人知道, 欢迎交流讨论.
感谢 @reflector-li 同学发现了真正的问题所在, 出现这个bug的真正原因在于autoware-1.14.0 更换了点云地图的加载方式,却没有相应地修改 my_map.launch
.
如果你按照如下方式修改, 应该能够成功加载点云地图, 从而实现 ndt_matching 定位.
<!-- Point Cloud -->
- <node pkg="map_file" type="points_map_loader" name="points_map_loader" args="noupdate $(env HOME)/.autoware/data/map/pointcloud_map/bin_Laser-00167_-00864.pcd $(env HOME)/.autoware/data/map/pointcloud_map/bin_Laser-00153_-00852.pcd"/>
+ <include file="$(find map_file)/launch/points_map_loader.launch">
+ <arg name="path_pcd" value='$(env HOME)/.autoware/data/map/pointcloud_map/bin_Laser-00167_-00864.pcd, $(env HOME)/.autoware/data/map/pointcloud_map/bin_Laser-00153_-00852.pcd'/>
+ </include>
Bug report
Required information:
Description of the bug
I was trying to run the example provided here https://www.svlsimulator.com/docs/system-under-test/autoware-instructions/ However, all the time
map
tobase_link
frame is not defined. When I check the codebase I notice this, I guess that is the issue.Here https://github.com/Autoware-AI/core_perception/blob/1.14.0/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp#L928
if (map_loaded == 1 && init_pos_set == 1)
only thismap
tobase_link
is published. Yet, map_loaded is never be true.When I set the initial position
init_pos_set
becomes 1. I guess by looking into bit deeper I noticed thesehttps://github.com/Autoware-AI/core_perception/blob/1.14.0/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp#L1670 https://github.com/Autoware-AI/core_perception/blob/1.14.0/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp#L536
I have no idea how to solve this issue, let me know what should I do
Steps to reproduce the bug
Try to follow the instructions up to the localization node https://www.svlsimulator.com/docs/system-under-test/autoware-instructions/
Expected behaviour
map
tobase_link
frame should be published yet it is notActual behavior
, all the time
map
tobase_link
frame is not defined.