Pose initialization fails

[shmpwk]

I am struglling with pose initialization with real vehicle.
The pose initialization seems to work fine, but it always converges to wrong position.
Also, the robot pose is unstable and show some random walk even though the robot is not moving.

initial_pose_fail.mp4

[kminoda]

Thanks for the question!

I assume you don't have GNSS sensor and using GUI pose initialization method on RViz instead.

It is just a guess, but it appears that the covariance of pose_initializer is too large compared to your environment.

Default covariance for x and y of pose_initializer is 2[m], so decreasing the value may solve the issue.
You can change the value in:
YOUR_META_REPOSITORY/src/universe/autoware/localization/pose_initializer/config/pose_initializer.param.yaml
(here)

You’ll see initialpose_particle_covariance there. Try decreasing the first two value from 4.0 to smaller value such as 0.5.

Hope this helps.

[shmpwk]

Very quick answer! thank you! Succeed!

initial_pose_success.mp4