MSF localization issue (inspva list is empty!)

[javangent]

Hi,

I wasn't able to run MSF localization with my particular setup. I recorded my own pointcloud data from LGSVL and created an MSF map using the msf_simple_map_creator.sh script. However, I'm getting no results and issues with inspva. I can't debug MSF as it is closed source and compiled as liblocalization_msf.so.

Any help would be appreciated!

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04
• Apollo installed from (source or binary): source
• Output of apollo.sh config if on master branch:

[INFO] Apollo Environment Settings:
[INFO]     APOLLO_ROOT_DIR: /apollo
[INFO]     APOLLO_CACHE_DIR: /apollo/.cache
[INFO]     APOLLO_IN_DOCKER: true
[INFO]     APOLLO_VERSION: master-2020-11-17-6d0db62e04
[INFO]     DOCKER_IMG: dev-x86_64-18.04-20201110_0617
[INFO]     APOLLO_ENV:  STAGE=dev USE_ESD_CAN=false
[INFO]     USE_GPU: USE_GPU_HOST=1 USE_GPU_TARGET=1

Steps to reproduce the issue:

• Build Apollo using ./apollo.sh build --config=dbg --config=gpu (although these options don't seem to matter)
• Run ./scripts/bridge.sh in separate terminal
• Record cyber record from LGSVL simulator with cyber_recorder record into apollo/recording/
• Generate MSF map from the recordings ./scripts/msf_simple_map_creator.sh /apollo/recording/ /apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne128_novatel_extrinsics.yaml 10 outmap
• Edit modules/localization/conf/localization.conf to use my map and extrinsics
• Run cyber_launch start /apollo/modules/localization/launch/msf_localization.launch while also running LGSVL over bridge.
• See following issue:

...
[localization]  get init pva pose of current velodyne time from pva buffer
[localization]  inspva list is empty!
[localization]  the inspva buffer is not ok!
...

This gets repeated infinitely.

Supporting materials (screenshots, command lines, code/script snippets):

Screenshot of terminal: Output of cyber_monitor: ERROR: Both GNSS and Lidar Localization Is Invalid msf_gnss output: gnss odom output: best pos output:

[LiuHaolan]

Has a similar problem.

[tthhee]

From the output of cyber_monitor, it seems that the fusion part of localization module has not launched. I need log to get more details.

[AlexandrZabolotny]

You need to increase the frequency of issuing this message in the receiver sns settings

[mengen100]

@javangent @LiuHaolan Wonder if you have found a solution to that problem? My guess this issue is related to #13454, either this error is causing msf_lidar in cyber monitor having no data or vice versa. Due to the demo map for MSF Localization which is sunny_vale_big_loop is not available in LGSVL, I think many of us need to create our own local_map to test MSF Localization with LGSVL. So could someone share the proper steps to create our own local_map and run it with msf_localization and LGSVL? The official documentation is not too helpful on this part.

[InterKnight]

Hi， @javangent After running /msf_simple_map_creator.sh, we will get a localization map in map_folder, which contains a "config.xml" and "map" folder. I wonder where should I put these two files and what's kind of file in "map" folder? Thank you!

[PeterJaq]

You need to increase the frequency of issuing this message in the receiver sns settings

Can you describe the " receiver sns settings" more detail?

[PeterJaq]

Has a similar problem.

Hi, do you solve this problem?

[PeterJaq]

Hi,

I wasn't able to run MSF localization with my particular setup. I recorded my own pointcloud data from LGSVL and created an MSF map using the msf_simple_map_creator.sh script. However, I'm getting no results and issues with inspva. I can't debug MSF as it is closed source and compiled as liblocalization_msf.so.

Any help would be appreciated!

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04
• Apollo installed from (source or binary): source
• Output of apollo.sh config if on master branch:

[INFO] Apollo Environment Settings:
[INFO]     APOLLO_ROOT_DIR: /apollo
[INFO]     APOLLO_CACHE_DIR: /apollo/.cache
[INFO]     APOLLO_IN_DOCKER: true
[INFO]     APOLLO_VERSION: master-2020-11-17-6d0db62e04
[INFO]     DOCKER_IMG: dev-x86_64-18.04-20201110_0617
[INFO]     APOLLO_ENV:  STAGE=dev USE_ESD_CAN=false
[INFO]     USE_GPU: USE_GPU_HOST=1 USE_GPU_TARGET=1

Steps to reproduce the issue:

• Build Apollo using ./apollo.sh build --config=dbg --config=gpu (although these options don't seem to matter)
• Run ./scripts/bridge.sh in separate terminal
• Record cyber record from LGSVL simulator with cyber_recorder record into apollo/recording/
• Generate MSF map from the recordings ./scripts/msf_simple_map_creator.sh /apollo/recording/ /apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne128_novatel_extrinsics.yaml 10 outmap
• Edit modules/localization/conf/localization.conf to use my map and extrinsics
• Run cyber_launch start /apollo/modules/localization/launch/msf_localization.launch while also running LGSVL over bridge.
• See following issue:

...
[localization]  get init pva pose of current velodyne time from pva buffer
[localization]  inspva list is empty!
[localization]  the inspva buffer is not ok!
...

This gets repeated infinitely.

Supporting materials (screenshots, command lines, code/script snippets):

Screenshot of terminal: Output of cyber_monitor: ERROR: Both GNSS and Lidar Localization Is Invalid msf_gnss output: gnss odom output: best pos output:

Hi, I meet the same problem too, do you solve this problem?

[marf-cn]

I meet the same problem too, do you solve this problem?

[forgot0813]

I meet the same problem too

[wqklihbf]

Hi, do you solve this problem?