map_dir for running localization.sh with Multi-Sensor Fusion Localization Data

[yuconglin]

I am trying to run the localization module separately with the localization data from apollo's data platform.
Can I know which map_dir should I use?
Thanks

[zhouyao4321]

The default map_dir "--map_dir=/apollo/modules/map/data/sunnyvale_big_loop" is OK, which is writed in modules/common/data/global_flagfile.txt. You can change the map_dir by add "--map_dir=your_map_path" in file modules/localization/conf/localization.conf.

[yuconglin]

Thanks for fast response!
I tried to run localization.sh with
"rosbag play -i data/bag/demo-multi_sensor_fusion_localization-data-apollo-2.0/data/bags/000.bag".
But it looks like nothing happened. I did
"rostopic echo /apollo/localization/pose"
and only saw
"/use_sim_time is not set, will not subscribe to simulated time [/clock] topic"

did I do anything wrong?
BTW, where should I put the loca_map folder that came with the demo-multi_sensor_fusion_localization-data-apollo-2.0 data?
Thanks a lot!

[zhouyao4321]

Hi, I‘m writing a document about how to start the localization module.

You can see the beta version on this link.
https://github.com/zhouyao4321/apollo/blob/document_cn/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md

Or this link, if you understand Chinese.
https://github.com/zhouyao4321/apollo/blob/document_cn/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer_cn.md

Hope it will be helpful. ：）

[yuconglin]

Thanks a lot!

…

On Wed, Apr 25, 2018, 1:37 PM Yao Zhou ***@***.***> wrote: Hi, I‘m writing a document about how to start the localization module. You can see the beta version on this link. https://github.com/zhouyao4321/apollo/blob/document_cn/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md Or this link, if you understand Chinese. https://github.com/zhouyao4321/apollo/blob/document_cn/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer_cn.md Hope it will be helpful. ：） — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4012 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGXu_MCvCrULxiRutm6wXdSKtlHQxzHaks5tsLRDgaJpZM4TiSMG> .

[yuconglin]

I tried to follow the steps and came across some issues when I tried to ran
./scripts/localization_online_visualizer.sh
what showed on my screen is:

user@in_dev_docker:/apollo$ ./scripts/localization_online_visualizer.sh
Load lidar extrinsic succeed.
Resolution: 0.125
Dataset: /user/ad-eap/dev/liuyu43/pipeline_seqs/ieout_sunnyvale_region_1214/compensated_pcd//seqs/
Loaded the map configuration from: /apollo/data/bag/demo-multi_sensor_fusion_localization-data-apollo-2.0/data//local_map/config.xml.
Load map config succeed.
Gtk-Message: Failed to load module "canberra-gtk-module"
[ WARN] [1524688234.745528321]: transport file: /home/tmp/ros/etc/ros/transport_mode.yaml is not map
[ WARN] [1524688234.745599828]: Parse transport_mode file failed
Un-organized-point-cloud
Un-organized-point-cloud
Un-organized-point-cloud
Un-organized-point-cloud
Un-organized-point-cloud
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:50.441176 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:50.441505 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:50.673929 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:50.673983 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:50.895977 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:50.896008 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:51.108444 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:51.108486 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:51.311839 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:51.311873 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:51.507556 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:51.507591 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:51.712471 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:51.712503 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:51.922312 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:51.922353 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:52.132537 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:52.132575 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:52.341732 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:52.341763 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:52.566558 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:52.566604 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:52.826566 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:52.826635 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:53.077538 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:53.077579 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:53.412241 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:53.412281 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:53.703771 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:53.703843 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:53.927791 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:53.927829 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:54.222661 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:54.222709 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:54.496525 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:54.496563 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:54.807170 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:54.807237 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:55.072474 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:55.072578 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:55.352038 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:55.352090 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:55.640291 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:55.640408 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:55.893507 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:55.893582 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:56.187978 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:56.188066 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:56.425966 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:56.426051 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:56.704782 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:56.704846 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:56.964000 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:56.964063 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:57.263669 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:57.263778 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
Un-organized-point-cloud
E0425 16:30:57.536711 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:57.536777 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:57.770164 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:57.770212 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:57.945226 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:57.945276 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:58.127581 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:58.127615 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:58.300797 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:58.300829 1755 visualization_manager.cc:242] The queried buffer is empty.
Un-organized-point-cloud
E0425 16:30:58.474126 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:58.474165 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:58.647269 1755 visualization_manager.cc:242] The queried buffer is empty.
E0425 16:30:58.647387 1755 visualization_manager.cc:242] The queried buffer is empty.

The first time I tried to ran the visualizer, the graphics are not smooth. The second time I tried, the graphics didn't show up.
Both time I got the error : Gtk-Message: Failed to load module "canberra-gtk-module"

Did anyone else tried the tutorial?

[zhouyao4321]

"The first time I tried to ran the visualizer, the graphics are not smooth."
-> rebulild apollo with command "./apollo.sh build_opt"

some explanation about log:
"Un-organized-point-cloud"
-> received a point cloud，
E0425 16:30:54.807170 1755 visualization_manager.cc:242] The queried buffer is empty.
-> can't query localization pose accord to the received point cloud's timestamp.

[yuconglin]

I tried the command to rebuild.
but the visualizer said:
"ylin67@in_dev_docker:/apollo$ ./scripts/localization_online_visualizer.sh
Load lidar extrinsic succeed.
Resolution: 0.125
Dataset: /user/ad-eap/dev/liuyu43/pipeline_seqs/ieout_sunnyvale_region_1214/compensated_pcd//seqs/
Loaded the map configuration from: /apollo/data/bag/demo-multi_sensor_fusion_localization-data-apollo-2.0/data//local_map/config.xml.
Load map config succeed.
Gtk-Message: Failed to load module "canberra-gtk-module"
[ WARN] [1524763454.051032264]: transport file: /home/tmp/ros/etc/ros/transport_mode.yaml is not map
[ WARN] [1524763454.051088866]: Parse transport_mode file failed"

any hints? Thanks.

[yuconglin]

It worked finally. Thanks for creating the tutorial !!! One issue I observed is that the blue circle (gnss) always dropped behind when the car was running. Did you observe the similar phenomenon? Thanks

…

On Thu, Apr 26, 2018 at 12:07 AM, Yao Zhou ***@***.***> wrote: "The first time I tried to ran the visualizer, the graphics are not smooth." -> rebulild apollo with command "./apollo.sh build_opt" some explanation about log: "Un-organized-point-cloud" -> received a point cloud， E0425 16:30:54.807170 1755 visualization_manager.cc:242] The queried buffer is empty. -> can't query localization pose accord to the received point cloud's timestamp. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#4012 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGXu_AMasOet1WfSw89rLzFMhmQQ5rObks5tsUfngaJpZM4TiSMG> .

[Oofs]

@yuconglin Hi, i had same issue after following the tutorial :https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer.md

tianning@in_dev_docker:/apollo$ ./scripts/localization_online_visualizer.sh
Load lidar extrinsic succeed.
Resolution: 0.125
Dataset: /user/ad-eap/dev/liuyu43/pipeline_seqs/ieout_sunnyvale_region_1214/compensated_pcd//seqs/
Loaded the map configuration from: /apollo/demo_data/data/local_map/config.xml.
Load map config succeed.
Gtk-Message: Failed to load module "canberra-gtk-module"
[ WARN] [1531886606.708257611]: transport file: /home/tmp/ros/etc/ros/transport_mode.yaml is not map
[ WARN] [1531886606.708316211]: Parse transport_mode file failed

How did you work out ?

[lygincn]

@yuconglin @Oofs @zhouyao4321
guys, where did you downloaded the demo-multi_sensor_fusion_localization-data-apollo-2.0.bag????? I can't find it through the link in the tutorial... even using a US IP... (http://data.apollo.auto/?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en) I really need this data to do some tests, can you guys help me out? can you please send me the data if it's ok for you? Thank you so much!

[lygincn]

yeah... i have located the data in the link, but it's so slow accessing it with vpn and i even cannot sign in.. .

[Zhenni17]

@lygincn please let us know if you have successfully downloaded the data. Our website has both English and Chinese version. To locate the data, you need to visit http://apollo.auto > click "open platform" at the top of the website > click data.

[lygincn]

@Zhenni17
yes, it succedded. Thanks a lot.