[Discussion] LiDAR Localization Process

[twbabyduck]

A simple way to test the localization using tier4_localization_launch and the steps are shown as follows (will edit next week):

The input topic name input/pointcloud default was /sensing/lidar/top/outlier_filtered/pointcloud, so change to your topic name

ros2 launch tier4_localization_launch localization.launch.xml

In the localization.launch.xml file, you should see util.launch.xml and it should output /localization/util/downsample/pointcloud so that pose_estimator can publish /localization/pose_estimator/pose for further NDT scan matching.

Expected Result:
If the lidar point cloud is given as an input topic input/pointcloud should be able to publish the ndt_pose

Discussion
There is no /sensing/lidar/top/outlier_filtered/pointcloud published and if users want to test with their own dataset, the documentation should provide some guidance so that they can simply test NDT Localization with pcd file and point cloud without other issues.

[Update]
If users directly modify input/pointcloud topic name in pose_estimator.launch.xml, the result will be like this which the NDT process cannot converge properly:

[YamatoAndo]

I think there are many requests to run only localization, so I think it is good idea to provide the documentation.

[Update]
If users directly modify input/pointcloud topic name in pose_estimator.launch.xml, the result will be like this which the NDT process cannot converge properly:

Please modify input/pointcloud topic name in localization.launch.xml.
https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/localization.launch.xml#L3

If you directly modify input/pointcloud topic name in pose_estimator.launch.xml, processing is slowed because downsampling of the point cloud is not performed.

[twbabyduck]

Dear @YamatoAndo,

As I described in the original post the input/pointcloud topic name in localization.launch.xml has already been modified.
The problem is that the /sensing/lidar/top/outlier_filtered/pointcloud does not publish as expected and requires some extra steps, could you confirm what missing steps have to be done?

Thanks