modelcars

Quick Start Guide

To start the localization, several things have to be (ros)launched, depending on what You want to do:

Regular Start

• fisheye_camera_matrix camera_matrix_provider.launch
  • publishes /usb_cam/camera_matrix which is needed to undistort the fisheye-image and to compute perspective projections
• fisheye_camera_matrix undistorted_image_provider.launch
  • publishes /usb_cam/image_undistorted
• cps2 localization_publisher.launch
  • publishes /localization/cps2/pose containing the cars pose in world frame

Debugging on Car

Alternatively, You may launch cps2 localization_publisher_debug.launch which launches all of the above. The debug version publishes some markers and writes the trajectory to a file. Use cps2 rviz.launch on a remote PC to make things visible.

Debugging on Desktop

Alternatively, just launch cps2 test_localization_publisher which launches all of the above plus a rosbag player.

How does it work?

// TODO

Parameters to set

All parameters are briefly explained in the launchfiles where they are supposed to be set. Here, we like to give a more detailed explaination:

// TODO