feat(ndt_scan_matcher): change coordinate of output_pose_covariance #6065
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com>
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…utowarefoundation#6065) * feat(ndt_scan_matcher): change coordinate of output_pose_covariance Signed-off-by: yamato-ando <yamato.ando@tier4.jp> * style(pre-commit): autofix * Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: yamato-ando <yamato.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com>
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Description
I would like to change the handling of
output_pose_covarianceparam from the map coordinate system to the base_link coordinate system.Along with this, a feature to convert
output_pose_covarianceto 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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