Is there GPS and IMU data available for testing localisation modules? I believe they were available at some point of time, but now i cannot find it.

[Amirtha1189]

[daohu527]

RTK is an enhanced version of gps. Only providing gps+imu will lead to insufficient positioning accuracy.

If you only use gps, you can use gps+imu+lidar+wheel speedometer fusion localization

[Amirtha1189]

thank you. What i wanted to ask about was if apollo had some test record files to test the different localisation modules available.

[daohu527]

Here are some records you can use https://github.com/ApolloAuto/apollo/discussions/15025

[Amirtha1189]

Thank you very much. I tried running the MSF localisation using the inputs from sensor_rgb.record. While playing the record i did not publish the channel /apollo/localization/pose. I just wanted to see if the localisation module runs with the other raw inputs.

1. Is this record good enough to test the localisation methods?
2. If i do not want Lidar localisation updates for MSF, can i use /apollo/localization/msf_gnss as an equivalent for /apollo/localization/pose.?

[Amirtha1189]

I understand that the input to the localisation modules could be in a fixed world reference frame and the positions are converted to map reference frame (UTM) either using map offsets (RTK) and latlontoUTM(in MSF). How are the orientations converted from a world reference frame to map frame. ? Is it assumed that the quaternions are obtained with respect to a map frame?