Location estimation using YabLoc is not working properly

[aucon78]

I NEED HELP!!
I am interested in YabLoc, a location estimation function of Autoware.Universe, and am considering using it. I am trying to build an Autoware.Universe environment and use original ROSBAG data (data obtained from various sensors installed in the car) to check the operation of YabLoc.
However, it is not working well. As shown in the attachment below...

■Environment (PC) specifications
OS:Ubuntu22.04
CPU:intel® Core™ i7-13650HX
GPU:NVIDIA® GeForce RTX™ 4060 Laptop GPU
MEMORY:32GB

■ROSBAG
Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 14671 | Serialization Format: cdr
Topic: /sensing/camera/traffic_light/image_raw/compressed | Type: sensor_msgs/msg/CompressedImage | Count: 1475 | Serialization Format: cdr
Topic: /sensing/camera/traffic_light/camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 1475 | Serialization Format: cdr
Topic: /estimated_vel_kmph | Type: std_msgs/msg/Float32 | Count: 1472 | Serialization Format: cdr
Topic: /estimated_vel_mps | Type: std_msgs/msg/Float32 | Count: 1472 | Serialization Format: cdr
Topic: /fix | Type: sensor_msgs/msg/NavSatFix | Count: 737 | Serialization Format: cdr
Topic: /sensing/imu/tamagawa/imu_raw | Type: sensor_msgs/msg/Imu | Count: 14660 | Serialization Format: cdr

*Some Topics and messageTypes are not in the format expected by YabLoc, so a conversion processing node is created separately to change the Topic and messageType to the expected format and publish the necessary data to YabLoc.

*For GNSS data, "/fix" is used.

*For vehicle speed data, "/estimated_vel_mps" is used.

*Although the topic name is "/sensing/imu/tamagawa/imu_raw", the sensor used is not a Tamagawa IMU sensor, but a Movell IMU (mti series). Therefore, the device frame_id is "mti/data".

■Vector MAP
projector_type: local

■procedure
Step1
Starting YabLoc.
⇒ros2 launch autoware_launch logging_simulator.launch.xml
map_path:=$HOME/autoware_map/my-map
vehicle_model:=sample_vehicle
sensor_model:=awsim_sensor_kit
pose_source:=yabloc

Step2
Start the conversion node on each terminal.(cameraInfo、gnss、Vehicle Speed)
Add coordinate transformation of "mti/data" to tf2 node. Execute the following command.
⇒「ros2 run tf2_ros static_transform_publisher --frame-id base_link --child-frame-id mti/data」

Step3
Play ROSBAG
⇒Position estimation begins

What do you think could be the reason it doesn't work?

The execution log is also attached below.
Uploading yabloc.log…

[yukkysaito]

@KYabuuchi Could you comment?

[KYabuuchi]

Of course. I will support the questioner.

[KYabuuchi]

@aucon78 Is the initial position located in an area without a vector map?

YabLoc cannot perform proper localization without a vector map.
So, trying to start playback from later in the rosbag or performing initial localization mid-sequence might improve the results.

On the other hand, the overall shape of the estimated trajectory is similar to the expected trajectory, indicating that the vehicle speed and IMU data are being used correctly.

[aucon78]

Thank you for your answer.
It is true that Lenlet2map does not exist at the initial position.

[KYabuuchi]

You need to use YabLoc only in areas where a vector map is available. 🙏