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Hi! What are the requirements for sensor configuration in using Autoware? I am trying to build autonomous driving capability for my own robot and would like to know what kind of sensors I need to use Autoware. It seems that LiDAR is required for ndt_scan_matcher, but how about other sensors such as IMU, odometry, GNSS, or camera? Thank you in advance. |
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Answered by
aohsato
Apr 19, 2022
Replies: 1 comment 2 replies
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2 replies
Answer selected by
kminoda
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@kminoda
Thanks for your question!
Unfortunately, there is no documentation about the whole sensing policy just for now. 🤕
The sensing policy around the localization module is as follows.
LiDAR pointcloud (
sensor_msgs/PointCloud2
) is mandatory.https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher
Vehicle Twist (
geometry_msgs/TwistWithCovarianceStamped
) is mandatory.https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ekf_localizer
IMU (
sensor_msgs/Imu
) is not mandatory, but it can be used withgyro_odometer
to improve the accuracy of Vehicle Twist.https://github.com/autowarefoundation/autoware.universe/tree/main/…