LAV ego_plan_locs time interval and the EKF module

[yuting-fu]

Hello @dotchen , impressive work! I have ran your latest LAV agent with CARLA Leaderboard. I try to understand the detailed implementation and have run across a couple of questions below:

1. The LAV agent plans 20 steps for the Ego vehicle. Are the 20 points in the ego_plan_locs distributed at equivalent time interval? If so, what is the time interval? And is the object prediction using the same time interval? According to the coordinates in the generated ego_plan_locs, a reasonable interval would be between 0.3s - 0.4s, assuming a same time interval for 20 steps.

2. In the new release, there's an EKF module. But I still observed quite some noise in the EKF output. The ego loc was still constantly jumping around in a small range. Is there any plan to improve this? Or am I missing something here?

I'd appreciate your insights on these questions a lot! Thanks in advance!