NDT Localization setup about carla-autoware

[joel-mb]

yeah @AdamGleave! Thanks for the correction and sorry for the mistake.

[AhmedARadwan]

Hi @joel-mb

The problem occurs with all towns as the transformation between /world and /map is zeros

<node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10" />

I think it shouldn't be zeros as the GNSS location published by CARLA doesn't match map locations. That means that ndt_matching wouldn't work properly using GNSS locations and the pre-recorded map as they won't match and this is the case that happens with me.

Thanks

[joel-mb]

Hi @AhmedARadwan!
Which process are you following to execute the ndt_matching node? Are you just running the agent provided in this repo (i.e., roslaunch carla_autoware_agent carla_autoware_agent.launch)? Is this happening only in Town03 or you can reproduce it in all the other towns?

Thanks!

[AdamGleave]

I think you mean @AhmedARadwan?