CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
[x] Anomaly report (something appears to not work correctly)
[ ] Enhancement request (describe the enhancement being requested)
[ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)
Descriptive summary
To address issue https://github.com/usdot-fhwa-stol/carma-platform/issues/986
Changes were added to the gnss_ndt_selector that would cause lidar to gps failover in the event of an ndt timeout and vice versa regardless of the operational mode (NDT only, GNSS only, AUTO score based switch).
Since score based switching performance varies between map files it is generally more stable to use NDT only operation, so that the switch only occurs due to a timeout.
Carma version where this issue was discovered
master v3.4.0
Expected behavior
NDT to GPS localization switch only occurs due to a timeout
Actual behavior
AUTO score based switching is used which can occur unexpectedly due to the map file in use.
Steps to reproduce the actual behavior
Run carma-platform and try to localize. If in a bad environment you may see the solution jumping back and forth between NDT and GNSS pose.
msmcconnell
commented
3 years ago
Types of Issue
Descriptive summary
To address issue https://github.com/usdot-fhwa-stol/carma-platform/issues/986 Changes were added to the gnss_ndt_selector that would cause lidar to gps failover in the event of an ndt timeout and vice versa regardless of the operational mode (NDT only, GNSS only, AUTO score based switch).
Since score based switching performance varies between map files it is generally more stable to use NDT only operation, so that the switch only occurs due to a timeout.
Carma version where this issue was discovered
master v3.4.0
Expected behavior
NDT to GPS localization switch only occurs due to a timeout
Actual behavior
AUTO score based switching is used which can occur unexpectedly due to the map file in use.
Steps to reproduce the actual behavior
Run carma-platform and try to localize. If in a bad environment you may see the solution jumping back and forth between NDT and GNSS pose.
Related work
https://github.com/usdot-fhwa-stol/carma-platform/issues/986