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modify initial position for localization for AVP demo

mitsudome-r requested to merge mitsudome-r/AutowareAuto:fix-init-hack into master

Description

Current localization node requires initial position to be provided from parameter. This parameter for AutonomouStuff parking lot is different in autoware_auto_avp_demo package.

  • For more details, see the issue which will be linked below. #514 (closed)

Notes for Reviewer

Please check by launching LGSVL and ms2.launch.py by following commands:

  • RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /opt/lgsvl/simulator
  • ros2 launch autoware_auto_avp_demo ms2.launch.py

On RVIZ, change Fixed Frame from base_link to map and visualize PointCloud Map topic. Make sure that vehicle pose on the PointCloud map is somewhat close to the initial position in LGSVL.

Before:

After:

Checklist

  • Tested with MS2.launch.py

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