driving_log_replayer
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tier4
fix(localization): modify evaluation item in localization
Types of PR
- [ ] New Features
- [x] Upgrade of existing features
- [ ] Bugfix
Description
(1) Add a save topic /localization/pose_estimator/initial_to_result_relative_pose
driving_log_replayer/launch/localization.launch.py
This topic shows the relative pose that ndt_scan_matcher changed in optimization in each frame. This indicator by itself is not sufficient to determine if a scenario is OK/NG, but it can be useful from an analysis perspective, so it is added to the record topic.
(2) Remove the judgment by lateral_distance, which is inappropriate for evaluation.
As mentioned earlier, relative_pose cannot be an OK/NG indicator by itself. Currently, the Convergence condition is NG when the lateral_distance (i.e., in the y direction of the vehicle body) is large, but this is not directly related to Convergence.
The remaining exe_time and iteration_num are also not appropriate as Convergence criteria, but to avoid doing too much in one pull request, I will limit this pull request to removing only lateral_distance.
