Verification of Localization (YabLoc) in Autoware.Universe Environment

[nagoconso]

I am setting up the Autoware.Universe environment.
I am interested in the localization function of YabLoc in Autoware.
Is there a way to verify the operation of YabLoc in the Autoware.Universe environment?

supplement
I would like to know if it is possible to start only YabLoc (including the functions required by YabLoc) in the Autoware.Universe environment and check its operation (position estimation).

[KYabuuchi]

@nagoconso Thank you for your interest in YabLoc.
There is a public sample data for YabLoc, so if you're using YabLoc for the first time, I recommend trying it.

• sample map: https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip
• sample rosbag: https://docs.google.com/uc?export=download&id=17ppdMKi4IC8J_2-_9nyYv-LAfW0M1re5

Here is the command to run YabLoc.

# launch autoware 
ros2 launch autoware_launch logging_simulator.launch.xml\
 map_path:=<PATH TO nishishinjuku_autoware_map/> \
 vehicle_model:=sample_vehicle \
 sensor_model:=awsim_sensor_kit \
 pose_source:=yabloc
 
# play rosbag 
ros2 bag play sample_bag/yabloc/input_bag/ --clock 100

[nagoconso]

KYabuuchi

Thank you! That's very helpful!
I'll try it right away.

[nagoconso]

@KYabuuchi
YabLoc performs localization by matching "road surface markings" extracted from camera images with a vector map. I understand it as a localization function.
⇒https://autowarefoundation.github.io/autoware.universe/main/localization/yabloc/

I want to display the camera image window on Rviz as shown in the demo video

.
What operations are necessary to achieve this? By default, it does not seem to be displayed...

[KYabuuchi]

@nagoconso

YabLoc performs localization by matching "road surface markings" extracted from camera images with a vector map. I understand it as a localization function.

Yes, YabLoc localizes as described.

In default, the any images shown in the demonstration video are not displayed. You need to visualize the image topics in rviz as needed.

The images shown in the demo video are:

• /localization/pose_estimator/yabloc/image_processing/image_lanelet2_overlay_image
• /localization/pose_estimator/yabloc/pf/match_image.

Please also refer to image topics for debug section in README.

By the way, the images in the demo video are overlaid on the main RViz window using a ported version of jsk_visualization's OverlayImage for ROS2. Please note that this feature is not provided by Autoware.

[KYabuuchi]

Based on this question, it seems you are very new to Autoware.
I recommend following the Rosbag replay simulation tutorial first and trying localization with NDT (LiDAR-based position estimation).

[nagoconso]

@KYabuuchi
Thank you for your helpful advice.
I was able to successfully display the above.