euclidean_cluster_node frequently outputting intersection_2d calculation error
Description
euclidean_cluster_node outputs the following error while vehicle moves on LGSLV simulator.
[euclidean_cluster_node_exe-8] intersection_2d: no unique solution (either collinear or parallel)
How to Reproduce
- Start the LGSVL simulator with the ROS2NativeBridge.
- Start the
ms3_sim.launch.py
launch file. - Manually drive the vehicle to the pick-up/drop-off zone in front of the doors of the AS office.
I have noticed that it constantly outputs the error when the vehicle position (i.e. /localization/ndt_pose
)is at in map frame.
position:
x: -35.9412454511217
y: 102.04915380355405
z: -1.927195069854794
orientation:
x: 0.004352755742309785
y: -0.010549330278841865
z: -0.9392265450716385
w: 0.3431082368304629
![](/-/project/8229519/uploads/1da33fee3d6bd4f04e010aeacec94c12/Screenshot_from_2021-02-06_07-25-24.png)
Current Behavior
euclidean_cluster_node outputs error frequently.
Expected behavior
euclidean_cluster_node works without error output (at least with less frequency).
Edited by mitsudome-r