Yamato Ando

Thank you for your report. You are right, it seems to refer to the NDT node for a pose at 0 0 0. To fix this problem, I think that...

@meliketanrikulu I would like to put a flag in ekf_localizer not to estimate the position until the initial position is received. Any opinions on that? ※ Note that this is...

@meliketanrikulu > We can talk about this again according to the method to be used for reinitialization. Sure!

I think the reinitalization is necessary. However, I think it would be more versatile to put this function in a pose_initilizer node, etc., rather than in an NDT node, because...

> what flags are used to monitor localization failure. (my idea is to determine whether the localization fails based on whether score of the NDT match is greater than the...

@cyn-liu I think you didn't use the odometry in your test. I think if you put the odometry in the EKF, the estimated variance would be more reliable.

@meliketanrikulu Probably because the yaw angle of the TF(base_linklidar sensor) is misaligned. You can see the yaw angle error with the following command. `ros2 topic echo /localization/pose_twist_fusion_filter/ekf_localizer/estimated_yaw_bias` I think this...

The ekf_localizer estimates the bias of the yaw angle, and updates the bias while driving. Therefore, it should behave exactly as you said.

@anhnv3991 Could you please answer this question?

I'll leave the review up to @TakaHoribe :bow: