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usdot-fhwa-stol / carma-platform

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 :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Pacifica deviates from waypoints when running Autoware waypoint following #322

Closed qswawrq closed 5 years ago

qswawrq commented 5 years ago

Types of Issue

Descriptive summary

After vehicle is localized and following the given waypoints, there is a constant lateral offset (about 1-1.5 meters) between the vehicle and loaded route.

Expected behavior

Vehicle should closely follow given waypoints.

Actual behavior

A constant offset is observed between the actual path and loaded route.

route (1)

Steps to reproduce the behavior

Run Autoware waypoint following on Pacifica.

Related work

N/A

qswawrq commented 5 years ago

Fixed by changing the yaw offset of the lidar measurement.

maefromm commented 5 years ago

The PR from https://github.com/usdot-fhwa-stol/CARMAVehicleCalibration/pull/5 is related to this.