NDT Localization not working in ms2.launch.py
Description
How to Reproduce
Use commit: aedf3363ba8e24d2906b495844f93da83f6ae3f9
- launch LGSVL according to https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/lgsvl.html#autotoc_md91
- launch ms2.launch.py. `
ros2 launch autoware_auto_avp_demo ms2.launch.py
Current Behavior
NDT Localization does no publish TF. It keeps giving me errors including:
[p2d_ndt_localizer_exe-9] [ERROR] [localization.p2d_ndt_localizer_node]: Lookup would require extrapolation at time 1592914746.42942, but only time 1592914746.44942 is in the buffer, when looking up transform from frame [base_link] to frame [map]
[p2d_ndt_localizer_exe-9] [ERROR] [localization.p2d_ndt_[launch.log](/uploads/fde54cb6ec74c26c1cd8973959f54b2a/launch.log)localizer_node]: Derivative should be negative for a minimization problem. Flip the step.
[p2d_ndt_localizer_exe-9] [ERROR] [localization.p2d_ndt_localizer_node]: Initial guess is not within: 750000000ns range of the scan's time stamp. Either increase the tolerance range ormake sure the localizer takes in timely initial pose guesses.
See the log file for the details: launch.log
Expected behavior
It outputs estimated pose and map->odom tf.