Object Collision Estimator Node Can Not Transform from base_link to map
Description
When obstacles are fed into the object_collision_estimator_node
, the node gives the error on_bounding_box cannot transform base_link to map
.
How to Reproduce
In the integration
branch, edit src/autoware_auto_avp_demo/launch/ms3_core.launch.py
and replace
parameters=[LaunchConfiguration('object_collision_estimator_param_file')]
# TODO(JWhitleyWork): Needs remapping for obstacles
with
parameters=[LaunchConfiguration('object_collision_estimator_param_file')],
remappings=[('obstacle_topic', '/perception/lidar_bounding_boxes')]
Then:
colcon build --packages-up-to autoware_auto_avp_demo
- Run LGSVL to get lidar data
ros2 launch autoware_auto_avp_demo ms3_sim.launch.py
Current Behavior
The error on_bounding_box cannot transform base_link to map
is produced repeatedly.
Expected behavior
No error should be produced and the node should be able to transform regularly.