Series question for the MSF module

[jht1759]

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):Linux Ubuntu 18.04
• Apollo installed from (source or binary):source
• Apollo version (3.5, 5.0, 5.5, 6.0):5.5
• Output of apollo.sh config if on master branch:5.5

Steps to reproduce the issue:

• configure the gnss 、lidar 、localization 、tf module
• run it; then, found all the topic we expect are ok(msf_gnss、msf_status...) except for the topic: msf_lidar.

So there are some question for the msf module: 1: according to the msf_simple_map_creator.sh described. if you want to generate the localization map . you should take the topic of msf_lidar as a input. but msf module should first get a map for the topic of msf_lidar. then how can we handle it by ourselves with the apollo scripts? 2: what's the difference between lossy_map，lossless_map , ndt_map, pyramid_map. What's the usage for them？ and what's the relationship for them ? 3: Why the description of the msf README.md that you should use the msf_local_map_creator.sh for the map generate. but in the file how_to_generate_local_map_for_MSF_localization_module_cn.md that you should use msf_sample_map_creator.sh what's the difference?

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

Best Regard!

[daohu527]

Q1

according to the msf_simple_map_creator.sh described. if you want to generate the localization map . you should take the topic of msf_lidar as a input

msf_simple_map_creator.sh doesn't metioned about need msf_lidar as a input. It need pcds but not msf_lidar, msf_lidar is an intermediate results: Gnss localization result, LiDAR localization result. (ROS topic /apollo/localization/msf_gnss, /apollo/localization/msf_lidar)

Q2

what's the difference between lossy_map，lossless_map , ndt_map, pyramid_map

lossless_map -> lossy_map and used for msf localization module ndt_map -> used for ndt localization moudle pyramid_map -> an code module named pyramid_map

Q3

Why the description of the msf README.md that you should use the msf_local_map_creator.sh for the map generate. but in the file how_to_generate_local_map_for_MSF_localization_module_cn.md that you should use msf_sample_map_creator.sh what's the difference?

I can't found any info about msf_sample_map_creator.sh in git history. could you pls provide the link?

[boyang9602]

For Q3, msf_local_map_creator.sh will take the datasets as input to generate LiDAR map, while msf_sample_map_creator.sh (I think you mean msf_simple_map_creator.sh). It takes a record file as input to generate the LiDAR map. It will extract the data from the record file and then create the map as how msf_local_map_creator.sh works. Just a difference of the input data format.