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carla-simulator / carla-autoware

Integration of AutoWare AV software with the CARLA simulator
MIT License
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NDT Localization setup #104

Open AhmedARadwan opened 3 years ago

AhmedARadwan commented 3 years ago

Hi,

Thank you for your great work. I'm trying to run ndt_matching with the vehicle moving in Town03 and ndt_matching doesn't work as expected as the transformation between /world frame to /map isn't specified correctly.

So my question here is how to get the correct values for the transformation between /world frame to /map frame in terms of x, y, z, roll, pitch, and yaw?

Thanks in advance,

joel-mb commented 3 years ago

Hi @AhmedARadwan! Which process are you following to execute the ndt_matching node? Are you just running the agent provided in this repo (i.e., roslaunch carla_autoware_agent carla_autoware_agent.launch)? Is this happening only in Town03 or you can reproduce it in all the other towns?

Thanks!

AdamGleave commented 3 years ago

I think you mean @AhmedARadwan?

joel-mb commented 3 years ago

yeah @AdamGleave! Thanks for the correction and sorry for the mistake.

AhmedARadwan commented 3 years ago

Hi @joel-mb

The problem occurs with all towns as the transformation between /world and /map is zeros

<node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10" />

I think it shouldn't be zeros as the GNSS location published by CARLA doesn't match map locations. That means that ndt_matching wouldn't work properly using GNSS locations and the pre-recorded map as they won't match and this is the case that happens with me.

Thanks