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feat(ndt_scan_matcher): change coordinate of output_pose_covariance #6065
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YamatoAndo
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feat(ndt_scan_matcher): change coordinate of output_pose_covariance #6065
YamatoAndo
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Signed-off-by: yamato-ando <[email protected]>
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KYabuuchi
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We can replace some variables with const variables, please fix. 🙏
The rest of them are fine. 🙆♂️
Co-authored-by: Kento Yabuuchi <[email protected]>
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LGTM 🙆♂️
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <[email protected]> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]> Signed-off-by: Motsu-san <[email protected]>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <[email protected]> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <[email protected]> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <[email protected]> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <[email protected]> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]>
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Labels
component:localization
Vehicle's position determination in its environment. (auto-assigned)
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Description
I would like to change the handling of
output_pose_covariance
param from the map coordinate system to the base_link coordinate system.Along with this, a feature to convert
output_pose_covariance
to the map coordinate system based on the estimated pose has been added.Tests performed
LSim works as usual.
※ The output covariance of NDT have changed slightly, so it is not exactly the same as before.
When output_pose_covariance is modified, the output covariance becomes aligned with the estimated pose.
example
Effects on system behavior
Not applicable.
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