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rosrobotics

Correct tf frames setting in ndt_matching

ndt_matching succeeded in autoware, but the vehicle model cannot be set correctly.

  1. How do I set the correct angle for the vehicle model?
  2. What does the frame "mobility" mean?

tf.launch

<node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10" />
<node pkg="tf"  type="static_transform_publisher" name="map_to_points_map" args="0 0 0 0 0 0 /map /points_map 10" />
<node pkg="tf"  type="static_transform_publisher" name="velodyne_to_lidar_top" args="0 0 0 0 0 0 /velodyne /lidar_top 10" />

Image for RViz

Image for TF Tree

Solution

  • The settings in the TF file were correct. To change the angle of the vehicle model, I made the following settings.

    1. Change the yaw setting of Baselink to Localizer in the Setup tab (in the direction you want the vehicle model to point).
    2. Set the yaw setting of ndt_matching to offset it.(if baselink angle(1) is -1.55, here it is +1.55)

    I wrote an article about these issues, Thank you JWCS!

    https://medium.com/yodayoda/localization-with-autoware-3e745f1dfe5d