Reflectance map folder is invalid! and Localization Status Is Missing

[wqklihbf]

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System information

• **OS Platform and Distribution: Linux Ubuntu 20.04
• **Apollo installed from : source
• **Apollo version: 8.0

Steps to reproduce the issue:

When I was using carla_apollo_bridge, the localization module failed to start. When I used the command cyber_launch start module/localization/launch/msf_localization.launch, I encountered an error: Reflectance map folder is invalid!. After changing msf to rtk, the localization module was able to start, but the Dreamview interface showed a warning: Current Localization Status Is Missing

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

[daohu527]

I'm not too clear about msf_localization.launch, but rtk localization will be ok. This error prompts that there is no Localization status. You need to check whether the gnss driver topic is normal.

[wqklihbf]

I'm not too clear about msf_localization.launch, but rtk localization will be ok. This error prompts that there is no Localization status. You need to check whether the gnss driver topic is normal.

Thanks for your reply. How do I know if they're normal? Do you mean the FrameRatio ? I found that the FrameRatio of these gnss driver topic is 20 and the topic /apollo/localization/pose is also 20.

[daohu527]

The following is the code that prints the error https://github.com/ApolloAuto/apollo/blob/3859bee50e92d81e94f64ec4a3b3d4241978e8f5/modules/localization/rtk/rtk_localization.cc#L206-L211

which means drivers::gnss::InsStat is missing pos_type https://github.com/ApolloAuto/apollo/blob/3859bee50e92d81e94f64ec4a3b3d4241978e8f5/modules/common_msgs/sensor_msgs/ins.proto#L8-L12

You can confirm whether carla sends these messages through cyber monitor.

[wqklihbf]

The following is the code that prints the error

https://github.com/ApolloAuto/apollo/blob/3859bee50e92d81e94f64ec4a3b3d4241978e8f5/modules/localization/rtk/rtk_localization.cc#L206-L211

which means drivers::gnss::InsStat is missing pos_type

https://github.com/ApolloAuto/apollo/blob/3859bee50e92d81e94f64ec4a3b3d4241978e8f5/modules/common_msgs/sensor_msgs/ins.proto#L8-L12

You can confirm whether carla sends these messages through cyber monitor.

I check the topic /apollo/sensor/gnss/ins_stat and it is: Is the error ins_status?

[wqklihbf]

When I launch the rtk in the terminal, it will report this error: Cannot find Matching IMU. IMU messages too old. Newest timestamp[1.70685e+09], GPS timestamp[1.70685e+09]. Is it related to this error?