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autowarefoundation / autoware_ai_common

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laserscan2costmap provides a map with wrong orientation #7

Closed kosmastsk closed 4 years ago

kosmastsk commented 4 years ago

Ubuntu 18.04 Autoware 1.13 installed from source following the wiki page git rev-parse HEAD : e91b3e09f4e381819b67de61db77b9360dbbc981 ROS Melodic package related: object_map

Description of the bug

When I try to create a costmap from my laserscan, the orientation of the /ring_ogm is not correct. Is it rotated with regards to the sensor frame. This has also been mentioned in this issue.

Steps to reproduce the bug

  1. Launch runtime manager and enable RViZ and laserscan2costmap node from the Computing tab.
  2. Load this bag in the Simulation tab.
  3. In the laserscan2costmap node, set as scan topic /front_laser/scan' and as sensor frame:front_laser_base_link`
  4. In RViZ visualize the /front_laser/scan and the ogm_ring topics.
  5. Run the ROSbag

Expected behavior

The costmap should be rotated anticlockwise 90 degrees to match the sensor frame.

Screenshots

The result is depicted in the image below: Screenshot from 2020-07-17 09-43-16

JWhitleyWork commented 4 years ago

@kosmastsk This is not a confirmed bug and will require troubleshooting. Please post on ROS Answers with the tag autoware per our Support Guidelines and the community (probably me) will help you there.