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carla-simulator / carla-autoware

Integration of AutoWare AV software with the CARLA simulator
MIT License
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CARLA-Autoware localization problem #142

Open Jk7913 opened 2 years ago

Jk7913 commented 2 years ago

Ubuntu 18.04 CARLA 0.9.11 Autoware 1.14

Hi, I'm currently using Carla 9.11 but same thing was happening with 9.10.1. It also does not mater if I'm running ROS-bridge in synchronous or asynchronous mode, problems is always persistent. Basically on sharp turn, when NDT time increase, Autoware get lost, looks like vehicle shown in rviz Autoware is not capable to keep up with the vehicle in simulation. I assume something is wrong with localization in Autoware. I'm still getting some errors/warnings but I do not know if it has to do anything with it ("_Failed transform from base_link to egovehicle/lidar", and some others which might be related to that one), since when the vehicle is driving straight, whole thing looks ok. Any idea what might be causing the problem? Thanks

Autoware - Copy

MakerFace commented 2 years ago

Ubuntu 18.04, CARLA 0.9.10.1, Autoware 1.14 I have the same problem!

MakerFace commented 2 years ago

I'm not sure if it actually solved the problem, but you can try this solution: Add the following code snippet

  <!--
    # imu #
    remap carla imu to autoware
    @todo: to reduce load, Autoware should directly use the Carla-topic.
  -->
  <node pkg='topic_tools' type='relay' name='imu_relay' args='/carla/$(arg role_name)/imu/imu1 /imu_raw'/>

to carla_autoware/carla-autoware-agent/agent/bridge.launch, and restart your carla_autoware_agent. Gook luck.

JIANGZhengm commented 1 year ago

I met the same problem and solved it by doing: (1) make sure synchronous mode is "true" in the carla-ros-bridge launch file; (2) Rebuild the NDT-matching node with Cuda. If these measures still don't work , you can try using the ground truth localization of Carla.