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A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Unable to initialize NDT localizer #1680

Open tecena opened 3 years ago

tecena commented 3 years ago

Hi, We are trying to run the autoware-AVP demo. Following the document https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/avpdemo.html with lgsvl. We are running autoware stack and simulator on different machines. The steps that we followed 1.Lgsvl simulator is run in a different machine outside ade(The version of lgsvl image inside ade is old 2020.06, we are unable to create simulation with that) 2.Created a simulation with autonomousparking map and IP address of the autoware machine in the bridge address. 3.On the other machine the visualization file is launched "autoware_auto_visualization.launch.py", RVIZ opens up. 4.After running "avp_sim.launch.py" the map and vehicle are loaded. Aunomousstuff

5.The vehicle in RVIZ is spawned at a different position, when I try to set the intial position of the vehicle in RVIZ with that of in simulator with 2D pose estimate, the position of the vehicle is not getting localized. I tried two ways to set the initial pose, one with 2D pose estimate in RVIZ and other passing the initial coodinate points through ros2 pub command, The vehicle in RVIZ does not seem to follow the ego-vehicle movement in simulator. 6.When I try to set the initial pose for the ego-vehicle in RVIZ with 2D pose estimate, as shown in the document https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/ndt-initialization.html, I can see the initial position coordinates of the vehicle are getting logged into RVIZ terminal, and I am even getting the coordinates as output for the "ros2 topic echo /localization/initialpose" position coordinates Initial pose

But vehicle in RVIZ does not seems to follow vehicle movement in simulator I am also getting the below errors after running ros2 launch autoware_demos avp_sim.launch.py command, I am not sure if these errors have anything to do with NDT localization

Screenshot (292)

7.On the bridge connection from lgsvl to Autoware,which bridge should we use the lgsvl-bridge or the ros-bridge that is launched by "autoware_auto_visualization.launch.py".There is a conflict, I can not run both the bridges simultaneously,

and also I observed that the lgsvl simulator gets connected to lgsvl-bridge on autoware machine properly,but when ros-bridge is open instead of lgsvl-bridge the bridge-status in simulator will be "connected" until play button is clicked in simulator, once the play button the clicked bridge-status changes to disconnected.

Please Help. Thank you

EricBoiseLGSVL commented 3 years ago

@hadiTab might be able to help.