Offset map in RVIZ (Carla & Autoware)

[nawfalz]

Hi all,

I am trying to set up a simulated environment with Town02.
I am seeing that there is an offset in the map when I load it in via Autoware.AI. This is the same for any maps I load in. Attempts to reposition the vehicle to the actual map will trigger a crash in Carla as the PCD map in RVIZ appears to be out of bounds. I have tried publishing a tf2_ros static_transform_publisher to adjust the map and ego_vehicle frames however it does not seem to work. Below are screenshots of the problem as well the tf_tree.

I am using the following:

• Autoware.AI v1.14.0 running on Ubuntu18 WSL2
• Carla v0.9.15 running on Windows

I am using carla_spawn_objects ros package to spawn the car in the simulator.

[nawfalz]

Any help you can throw my way would be greatly appreciated!

[YamatoAndo]

@nawfalz Hi.
Instead of handling it with TF, it's better to directly offset the map coordinates.
You can use pcl_transform_point_cloud for the conversion.

$ sudo apt install pcl-tools
$ pcl_transform_point_cloud input.pcd output.pcd -trans dx,dy,dz

Or you can also use CloudCompare.

[nawfalz]

Hi @YamatoAndo,
Thanks for that! I managed to align the pcd to that similar to the Carla simulation through your method as seen in the screenshot provided below. I will be trying to add in the vector map on a later day.