The Autoware Foundation
Reinitialization when NDT-matching failed #4870
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Is there any implemented function to reinitialize when NDT-matching failed while vehicle is traveling? This issue is related to my question but there seems to be no clear answer. Is it still in progress? |
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If it is determined that initialization has failed, it is necessary to manually perform the initialization process. An API is available that provides a service (srv) for initialization, so you just need to call it. A button to call this service is also available in RViz. However, since the initialization process has a high computational cost, the vehicle must be stopping. Additionally, there is still room for discussion on whether to reinitialize when self-localization deviates or to determine it as an abnormal state and switch to MRM. In any case, basic functions for detecting self-localization failures and reinitializing during driving are planned to be implemented to achieve such functionality. |
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If it is determined that initialization has failed, it is necessary to manually perform the initialization process. An API is available that provides a service (srv) for initialization, so you just need to call it. A button to call this service is also available in RViz. However, since the initialization process has a high computational cost, the vehicle must be stopping.
Additionally, there is still room for discussion on whether to reinitialize when self-localization deviates or to determine it as an abnormal state and switch to MRM.
In any case, basic functions for detecting self-localization failures and reinitializing during driving are planned to be implemented to achieve such func…