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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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Poor localization performance #384

Closed msmcconnell closed 4 years ago

msmcconnell commented 5 years ago

Types of Issue

Descriptive summary

Using the new down-sampled demo map at TFHRC there are some strange localization behaviors.

  1. GPS based initialization no longer seems to be working on that map and the user must use rviz to define the starting point. Perhaps this is caused by a bad transform between the map and the ECEF frame.
  2. It seems NDT can find a lock even if visually the scan does not align. It is possible that the down-sampling may be behind this behavior, but that is just a theory.

    Expected behavior

    Localization works as well as the pre-release version of CARMA

    Software version this applies to

    develop - 92828fa

    Actual behavior

    Localization does not initialize properly NDT does not track as reliably.

    Steps to reproduce the behavior

Run version 92828fa

msmcconnell commented 5 years ago

Thoughts on cause

  1. My guess is that the transform between the new map and the ECEF frame is not accurate.
  2. Perhaps using a voxel size of 4 on an already down-sampled map is reducing NDT accuracy.
qswawrq commented 4 years ago

Fixed by https://github.com/usdot-fhwa-stol/autoware.ai/pull/47