Localization method in autoware.ai [closed]

asked 2021-05-06 01:44:02 -0600

meng100
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Hi all,

Localization depends on 3D high-definition map data and the NDT algorithm. The result of Localization is complemented by the Kalman Filter algorithm, using odometry information obtained from CAN messages and GNSS/IMU sensors.

My question is:

How to fully enable and run this state-of-the-art localization method from runtime manager? (I'm using autoware.ai docker 1.14.0)

(As for Apollo, the localization module clearly states that 2 localization methods are provided, namely RTK and MSF, and in each of them you can find instructions of how to run them, which can be found here)

If we follow this tutorial from LGSVL's documentation, what kind of localization method is being used if we run quick start from runtime manager? Is the localization module fully enabled?

Appreciate any sharing or opinions, thanks in advance!

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Closed for the following reason the question is answered, right answer was accepted by meng100
close date 2021-06-24 04:02:52.334394

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Thanks for your awesome reply. I've read through the launch file, here is my doubt: how should I check if use_gnss is working?

meng100 ( 2021-05-19 02:38:05 -0600 )edit

Sorry for the late reply - I am not sure how to check if it is working in the matching node but as along as you have some gps topic that's being published in your system you should be good.

JoloGermanAg ( 2021-06-21 10:11:53 -0600 )edit

Alright, thanks man

meng100 ( 2021-06-23 03:01:46 -0600 )edit

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Localization method in autoware.ai [closed]

Closed for the following reason the question is answered, right answer was accepted by meng100
close date 2021-06-24 04:02:52.334394

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Localization method in autoware.ai [closed] edit

Closed for the following reason the question is answered, right answer was accepted by meng100 close date 2021-06-24 04:02:52.334394

1 Answer

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Localization method in autoware.ai [closed]

Closed for the following reason the question is answered, right answer was accepted by meng100
close date 2021-06-24 04:02:52.334394