Standalone Localization via NDT Matching

[cjffly]

While I am trying to find a solution to this discussion, I came across this video, which demonstrate autoware ai can play a rosbag (with only lidar message) to do NDT matching.

Is there any thing similar in autoware universe that I can play a rosbag with lidar data in a loaded pcd map like the video above?

[maxime-clem]

If I understand correctly, you want the following:

• Inputs:
  • Lidar data coming from ROS bag.
  • PCD map loaded from file.
• Output:
  • pose estimation.

This is exactly the interface of the ndt_scan_matcher node.
I think it should be possible to achieve what you want simply by playing your bag while running the following two nodes:

• pointcloud_map_loader (to load the pointcloud map file).
• ndt_scan_matcher.

You also need to publish the initial pose estimate (ekf_pose_with_covariance) and the localization should start working.

[Tanishq30052002]

Hi @maxime-clem, I am trying to do the same thing but it is still not able to initialize it. could you please look )'

These 3 errors are coming

[maxime-clem]

Did you try publishing the initial pose ? Is your vehicle stopped while you are setting the initial pose ?

[Tanishq30052002]

Yes my vehicle is stopped but it is still showing moving, also through rviz I published initialpose but it is still unable to initialise.

[maxime-clem]

I am sorry I do not know what could be the issue.
Please share the full log or share a bag recording.

[Tanishq30052002]

ok i check once and provide it to u