Localization Failed in Logging Simulator

[joewong00]

Hi,
I tried to run a rosbag simulation using my own rosbag data. However I realised that the localization is not working after I gave an initial pose. The status said that it's initialized but there is NO pose and twist output from the pose estimator (ndt) and twist estimator (gyro odometer). I double checked the input to those nodes, the input are alright, they both have the correct and non-empty input. There is no error on the terminal, only the info of "posebuffer.size() < 2" which I'm not sure if it's causing the issue.

Any help or guidance is much appreciated.

[YamatoAndo]

@joewong00 Hi, cloud you share me your rosbag and map?
I will investigate why it is not working.

[joewong00]

Hi, yes because the original rosbag is too large (~10Gb), so I had to record a new one from the original rosbag that is shorter in order to send it to you. Sorry that I completely forgot about the different clock time. However, I tried running with the original rosbag and got the same issue. Thank you.

[YamatoAndo]

@joewong00 OK, so cloud you please create rosbag with correct clock time and share it to me?
The correct clock should be saved if you do the following command

ros2 bag play --clock  
ros2 bag record --use-sim-time

[joewong00]

Hi @YamatoAndo, thanks a lot for your help. After adding the --clock flag while playing the rosbag, I finally got the localization working! The only issue that I'm having right now is that my velocity status, due to the vehicle hardware limitation, is only at around 15Hz. It's causing the localization to drift. Any idea on how can I tackle this?

Thanks.

[joewong00]

Also I already modified the rosbag in the link above with the correct clock time. In order to make it localize I had to modify the VLP16 distance resolution in the calibration file to be 0.005 instead of 0.002. Thanks.

[YamatoAndo]

The only issue that I'm having right now is that my velocity status, due to the vehicle hardware limitation, is only at around 15Hz. It's causing the localization to drift. Any idea on how can I tackle this?

How about setting a larger standard deviation for the vehicle speed?
https://github.com/autowarefoundation/autoware.universe/blob/v1.0/sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml#L4