Sharing localization road test results based on humble

[cyn-liu]

Our LiDAR brand: ouster-64
Our poincloud map:

docker image: humble-prebuilt
Input topics: LiDAR pointcloud(only)

launch command:

ros2 launch autoware_launch logging_simulator.launch.xml map_path:=MY_MAP_PATH vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

parameter setting:
1.

#logging_simulator.launch.xml
<arg name="perception" default="false" description="launch perception"/>

If perception is true, an error will be reported and Autoware cannot be launched. Since I only test the localization module, I set this parameter to false.

#tier4_localization_launch/launch/util/util.launch.xml
<arg name="stop_check_enabled" value="false"/>

If stop_check_enabled is true, localization cannot be initialized, and prompts the following error message:

[service_log_checker-3] [ERROR] [1680004364.590546454] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/pose_initializer_node)
[service_log_checker-3] [ERROR] [1680004364.590602114] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/default_ad_api/node/localization)
[service_log_checker-3] [ERROR] [1680004364.590631690] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/default_ad_api/node/localization)
[automatic_pose_initializer-32] [INFO] [1680004364.590637167] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize
[service_log_checker-3] [ERROR] [1680004364.590706587] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/default_ad_api/helpers/automatic_pose_initializer)

Possible causes: there is no topic /vehicle/status/velocity_status in the rosbag.

test video: video link

Output topics:(NDT matching score, NDT iteration number)