boyang9602

Thank you for the clarification! I am doing some testing work regarding the MSF-based localization. The LiDAR map in Apollo MSF localization requires the pose in `x, y, z, q.w,...

By the way, if Apollo's planning does not take the z value into account, will it work properly on an overpass where the roads are stacked?

So I think `z` should be `height_wgs84` based on code snippets below. https://github.com/ApolloAuto/apollo/blob/3fbb8938dc517dc03e4f490dea562be21d8d01bb/modules/common_msgs/sensor_msgs/gnss_best_pose.proto#L76-L79 https://github.com/ApolloAuto/apollo/blob/3fbb8938dc517dc03e4f490dea562be21d8d01bb/modules/localization/msf/local_integ/measure_republish_process.cc#L412-L415 https://github.com/ApolloAuto/apollo/blob/3fbb8938dc517dc03e4f490dea562be21d8d01bb/modules/localization/msf/local_integ/localization_integ_impl.cc#L328-L335 Below is the the structure of `gnss_pos` ```c++ /**@brief the position struct including longitude, latitude...

OXTS RT3000 V3 uses wgs84 for latitude and longitude as described, while altitude could be referenced to the geoid (default) or ellipsoid in the user manual: _From the Global Coordinate...

I filtered the logs of map node creation and found that they are more than the map nodes saved on my disk. Is it normal? I think some failed to...

I tracked the change of the map nodes For > Node (3556, 42390) is created twice based on the log (there is only one in the disk); > Node (3556,...

More information: 1. For different datasets, it has different situations: a. Sometimes it's core dumped b. sometimes it is hung and does not exit 2. Apollo v5.0.0 works fine.

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...

I met the same problem. I am trying to create a LiDAR map for KITTI odometry sequence 00. 1. I converted KITTI point clouds to pcl format XYZIT 2. I...

I found that there's a segmentation fault in the previous logs in my case ``` scripts/msf_local_map_creator.sh: line 18: 2096581 Segmentation fault (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2...