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 :
[ ] Anomaly report (something appears to not work correctly)
[X] 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
During integration testing of vanden-plas, some cars' localization were found to be not as reliable during medium speed at Summit Point. Using only GPS during these tests should give more information on debugging either the localization or speed generation logics. Therefore, new capability in localization_manager that initializes using lidar (calculating the GPS offset) and solely relies on the GPS thereafter is needed.
Carma version where this issue was discovered
N/A
Expected behavior
When localized, the carma should only publish GPS pose.
MishkaMN
commented
3 years ago
Types of Issue
Descriptive summary
During integration testing of vanden-plas, some cars' localization were found to be not as reliable during medium speed at Summit Point. Using only GPS during these tests should give more information on debugging either the localization or speed generation logics. Therefore, new capability in localization_manager that initializes using lidar (calculating the GPS offset) and solely relies on the GPS thereafter is needed.
Carma version where this issue was discovered
N/A
Expected behavior
When localized, the carma should only publish GPS pose.
Actual behavior
N/A
Steps to reproduce the actual behavior
N/A
Related work