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Hack republish tf when localization fails

mitsudome-r requested to merge mitsudome-r/AutowareAuto:hack-republish-tf-at-catch into master

Description

Localization node has dependency on the TF(map->odom) which is published by the localization node itself. Therefore, when localization fails for some reason (e.g. bad optimization) and fails to output tf, it never resumes due to old tf data. This hack republishes newest available map->odom TF at localization failure, so that this never happens.

  • For more details, see the issue which will be linked below. #458 (closed)

This MR should not close the issue above. The Milestone maybe changed from MS2 to Post AVP Demo.

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. Drive around and make sure that vehicle pose is updated as localization runs.

Checklist

  • Tested with MS2.launch.py
Edited by mitsudome-r

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