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Autoware.ai代码解读::NDT模块-1

Autoware.ai代码解读::NDT模块-1

在Autoware.ai的官方rosbag例子中，采用了NDT定位的算法进行演示，先看演示效果

Youtube

https://www.youtube.com/watch?v=OWwtr_71cqI&t=217s

例子中使用的定位launch文件如下

my_localization.launch

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<launch>
  <!-- setting path parameter -->
  <arg name="get_height" value="true" />

  <!-- Setup: -->
  <include file="$(find runtime_manager)/launch_files/setup_tf.launch">
    <arg name="x" value="1.2" />
    <arg name="y" value="0.0" />
    <arg name="z" value="2.0" />
    <arg name="yaw" value="0.0" />
    <arg name="pitch" value="0.0" />
    <arg name="roll" value="0.0" />
    <arg name="frame_id" value="/base_link" />
    <arg name="child_frame_id" value="/velodyne" />
    <arg name="period_in_ms" value="10"/>
  </include>
  <include file="$(find vehicle_description)/launch/vehicle_model.launch" />

  <!-- points downsampler -->
  <include file="$(find points_downsampler)/launch/points_downsample.launch" />

  <!-- nmea2tfpose -->
  <include file="$(find gnss_localizer)/launch/nmea2tfpose.launch"/>

  <!-- ndt_matching -->
  <include file="$(find lidar_localizer)/launch/ndt_matching.launch">
    <arg name="get_height" value="$(arg get_height)" />
  </include>

</launch>

主要启动launch/ndt_matching.launch文件

launch/ndt_matching.launch文件如下

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<launch>
  <arg name="method_type" default="0" /> <!-- pcl_generic=0, pcl_anh=1, pcl_anh_gpu=2, pcl_openmp=3 -->
  <arg name="use_gnss" default="1" />
  <arg name="use_odom" default="false" />
  <arg name="use_imu" default="false" />
  <arg name="imu_upside_down" default="false" />
  <arg name="imu_topic" default="/imu_raw" />
  <arg name="queue_size" default="1" />
  <arg name="offset" default="linear" />
  <arg name="get_height" default="false" />
  <arg name="use_local_transform" default="false" />
  <arg name="sync" default="false" />
  <arg name="output_log_data" default="false" />

  <node pkg="lidar_localizer" type="ndt_matching" name="ndt_matching" output="log">
    <param name="method_type" value="$(arg method_type)" />
    <param name="use_gnss" value="$(arg use_gnss)" />
    <param name="use_odom" value="$(arg use_odom)" />
    <param name="use_imu" value="$(arg use_imu)" />
    <param name="imu_upside_down" value="$(arg imu_upside_down)" />
    <param name="imu_topic" value="$(arg imu_topic)" />
    <param name="queue_size" value="$(arg queue_size)" />
    <param name="offset" value="$(arg offset)" />
    <param name="get_height" value="$(arg get_height)" />
    <param name="use_local_transform" value="$(arg use_local_transform)" />
    <param name="output_log_data" value="$(arg output_log_data)" />
    <remap from="/points_raw" to="/sync_drivers/points_raw" if="$(arg sync)" />
  </node>
</launch>

可以看到，主要是一些参数的设置

接着是启动ndt_matching这个节点

现在来到ndt_matching节点的入口main函数：