"Not Matching" means fail to localization?

[caomengnb]

My terminal shows like follow：

[INFO] [1663312150.392011]: Global localization by scan-to-map matching......
[INFO] [1663312151.285043]: Time: 0.88362288475
[INFO] [1663312151.286561]:
[WARN] [1663312151.287811]: Not match!!!!
[WARN] [1663312151.289611]: [[ 0.98088933 0.19430204 0.01014116 7.2997208 ]
[-0.1944272 0.9808267 0.01330566 -0.4114994 ]
[-0.0073614 -0.0150231 0.99986005 0.54942485]
[ 0. 0. 0. 1. ]]
[WARN] [1663312151.290827]: fitness score:0.364882312047
[WARN] [1663312151.292033]: Waiting for initial pose....

Fitness score is only 0.364882312047. It seems fail to localization. How to solve this problem?

[caomengnb]

In addition, my lidar is velodyne. I constructed a map by FAST-LIO. I use the same map and rosbag to localize by FAST_LIO_LOCALIZATION, but only receive "Not match!!!!".

[cjcjcj7777]

Hi I am using ouster lidar and map built using fast_lio.

1. When I test fast_lio_localization using a bag file with which map was built, fast_lio_localization works without any error
2. When I test fast_lio_localization in real-time, fast_lio_localization orients lidar_data with origin of map, when I give initial pose w.r.t to it's current position in map in rviz it throws warning "Not match!!". The same occurs when I publish initial pose using the following command
   rosrun fast_lio_localization publish_initial_pose.py 14.5 -7.5 0 -0.25 0 0

Please let me know how can I rectify the issue.

[arjunskumar]

@cjcjcj7777 you should give your initial pose after rosrun fast_lio_localization publish_initial_pose.py, also try to check your fitness score and relax the threshold

[DaVin-Qi530]

I solved it. If you use mid360, you need to set FOV to 360 in global_localization.py

[DoongLi]

@wozhishiyikedan Hi，I also use Mid360，should I modify global_localization.py or Avia.yaml?

[xjtulixuanyi]

@wozhishiyikedan Hi，I also use Mid360，should I modify global_localization.py or Avia.yaml?

global_localization.py

[DoongLi]

@xjtulixuanyi Thx

[66Lau]

I solved it. If you use mid360, you need to set FOV to 360 in global_localization.py

It really works, thx!