Localization is not completed.

[andoh104]

Localization is not completed. This is a Rviz screen shot.

• After this commit, Localization is not completed. https://github.com/CPFL/Autoware/commit/409e75adcc26e6966c1516d33929d95ba054aa91 Merge pull request autowarefoundation/autoware#661 from andoh104:fixDocker

• At this commit, Localization is completed. https://github.com/CPFL/Autoware/commit/e05cf7b7d6c065fa3f4d7abe92ba0f3f9a4f753c Missing package of Dockerfile autowarefoundation/autoware_ai#917

• This commit is build error. https://github.com/CPFL/Autoware/commit/5d6cafeaad7b6095422f9b3cda022b409463b7fa Add OpenPlanner to Develop Branch, add OpenPlanner to Runtime Manager

• Before this commit, Localization is completed. https://github.com/CPFL/Autoware/commit/f6d2e692e87c9f58181bd841cd281b2ffe1923b7 Missing package of Dockerfile

[andoh104]

• At tag 1.2.0, Localization is not completed. https://github.com/CPFL/Autoware/tree/1.2.0

[andoh104]

diff e05cf7b and 409e75a: https://github.com/CPFL/Autoware/compare/e05cf7b7d6c065fa3f4d7abe92ba0f3f9a4f753c...409e75adcc26e6966c1516d33929d95ba054aa91

[andoh104]

I tested some revision between e05cf7b and 409e75a .

So, I think this commit causes localization problem. https://github.com/CPFL/Autoware/commit/14f7eca8a5b5aecf110ce6ebb3ab0467323b75fd

[andoh104]

I tried to debug this issue, but I could only make a temporary patch. This patch will make the commit 14f7eca unavailable.

~/Autoware$ git diff
diff --git a/ros/src/sensing/filters/packages/points_downsampler/include/points_
index b42336e..2e61291 100644
--- a/ros/src/sensing/filters/packages/points_downsampler/include/points_downsam
+++ b/ros/src/sensing/filters/packages/points_downsampler/include/points_downsam
@@ -21,7 +21,11 @@ static pcl::PointCloud<pcl::PointXYZI> removePointsByRange(pc
     }
   }

+#if 0
   return narrowed_scan;
+#else
+  return scan;    //  This is a only tempolary patch for Localization problem.
+#endif
 }

 #endif // POINTS_DOWNSAMPLER_H

[kitsukawa]

The commit 14f7eca does not include the modification of matching algorithm. In our environment, we can do matching as before. By the way, do you open the app window every time after running ndt_matching? The problem may be solved by opening app window and clicking OK after running ndt_matching.

[andoh104]

kitsukawa-san Thank you for your answer.

I understood that another commit of matching algorithm is necessary in addition to the commit 14f7eca. But I don't understand what is the app window. (Is it Rviz or Runtime Manager ?)

[andoh104]

After checking "ring_filter" of Runtime Manager, Localization is completed.

But localization is unstable.

[andoh104]

I committed this temporary patch into my branch. https://github.com/andoh104/Autoware/blob/LocalizationPatch/ros/src/sensing/filters/packages/points_downsampler/include/points_downsampler.h

[andoh104]

@kitsukawa -san

I debuged this method:removePointsByRange. https://github.com/andoh104/Autoware/blob/LocalizationPatch/ros/src/sensing/filters/packages/points_downsampler/include/points_downsampler.h Then I found that max_range is always set to 0.0 . So this is bug.

[andoh104]

I have made a Pull Request to fix this issue.

[kitsukawa]

@andoh104 Thank you very much for the bug fixes.

[andoh104]

Don't mention it. I will close this, if it is merged into master branch. Thanks,

[andoh104]

It has been merged into master branch. I tested master branch is OK.