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guardstrikelab / carla_apollo_bridge

This project aims to provide a data and control bridge for the communication between the latest version of Apollo and Carla.
Apache License 2.0
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IMU message buffer is empty #182

Closed wqklihbf closed 7 months ago

wqklihbf commented 8 months ago

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当我在Dreamview界面中启动Localization模块时，Localization显示WARN，日志里显示如下： Log file created at: 2024/03/05 15:43:36 Running on machine: in-dev-docker Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg I0305 15:43:36.022807 13020 class_loader_utility.h:79] registerclass:RTKLocalizationComponent,apollo::cyber::ComponentBase,/apollo/bazel-bin/modules/localization/rtk/librtk_localization_component.so I0305 15:43:36.043301 13020 rtk_localization_component.cc:47] Rtk localization config: localization_topic: "/apollo/localization/pose" imu_topic: "/apollo/sensor/gnss/corrected_imu" gps_topic: "/apollo/sensor/gnss/odometry" broadcast_tf_frame_id: "world" broadcast_tf_child_frame_id: "localization" imu_list_max_size: 20 gps_imu_time_diff_threshold: 0.02 map_offset_x: 0 map_offset_y: 0 map_offset_z: 0 localization_status_topic: "/apollo/localization/msf_status" gps_status_topic: "/apollo/sensor/gnss/ins_stat" broadcast_tf_use_system_clock: false E0305 15:43:37.456712 13026 rtk_localization.cc:60] IMU message buffer is empty. E0305 15:43:37.510016 13031 rtk_localization.cc:388] Cannot find Matching IMU. IMU messages too old. Newest timestamp[1.70962e+09], GPS timestamp[1.70962e+09] E0305 15:43:37.573695 13035 rtk_localization.cc:388] Cannot find Matching IMU. IMU messages too old. Newest timestamp[1.70962e+09], GPS timestamp[1.70962e+09] E0305 15:43:37.637892 13023 rtk_localization.cc:388] Cannot find Matching IMU. IMU messages too old. Newest timestamp[1.70962e+09], GPS timestamp[1.70962e+09]

rodrigoqueiroz commented 8 months ago

Seems to be a performance issue. The Localization has a small threshold to match IMU and GPS messages. You can configure this value to accept larger difference, but a good localization requires good performance and up to date IMU measurement. double gps_imu_time_diff_threshold_ = 0.02;