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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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Unstable localization due to PR 816 #842

Closed msmcconnell closed 3 years ago

msmcconnell commented 4 years ago

Types of Issue

Descriptive summary

Testing on the develop branch on August 31st and Sep 1st 2020, showed unstable localization. Investigation of the issue tracked the problem to the changes merged by https://github.com/usdot-fhwa-stol/carma-platform/pull/816, which also had a small bugfix PR https://github.com/usdot-fhwa-stol/carma-platform/pull/831 . It is not immediately clear how this change is impacting localization performance as in its default operational mode the localization_manager node it added functions as a pass through. However, it was demonstrated that using the following commands to functionally revert that PR resulted in a return to acceptable performance.

# from carma-platform/ directory
git checkout c20dee3 gnss_ndt_selector carmajava/launch/localization.launch
rm -R localization_manager

Expected behavior

Localization performs stably

Software version this applies to

develop after PR #816

Actual behavior

Localization can be initialized but does not track stably when the vehicle is in motion

Steps to reproduce the behavior

Run carma localize drive the vehicle

Related work

Link to related tickets or prior related work here.

msmcconnell commented 4 years ago

@TonysCousin You can probably downgrade this issue, now that the culprit PR has been reverted.

TonysCousin commented 4 years ago

Downgraded to sev 2 since we have a workaround in place. Unfortunately, the workaround is to disable other desirable functionality, so this is still a big deal. But we can get on with our immediate release plans without fixing.

MishkaMN commented 3 years ago

Resolved by PR https://github.com/usdot-fhwa-stol/carma-platform/pull/980