TF坐标系矛盾！

[zouzhe1]

连交流的盆友都没有，我建了QQ群，大家来交流apollo：119702202

你们在modules/drivers/gnss/conf/gnss_conf.pb.txt里面，写

tf {
    frame_id: "world"
    child_frame_id: "imu"
    enable: true
}

然后在Localization里面写：

broadcast_tf_frame_id: "world"
broadcast_tf_child_frame_id: "localization"

最后又在modules/transform/conf/static_transform_conf.pb.txt里面写：

extrinsic_file {
    frame_id: "novatel"
    child_frame_id: "velodyne64"}

extrinsic_file {
    frame_id: "localization"
    child_frame_id: "novatel"}

extrinsic_file {
    frame_id: "localization"
    child_frame_id: "imu"}

综上：
imu打架了。矛盾了。你们不知道吗？
imu到底是跟localization，还是跟world？
然后激光雷达到底是跟imu，还是跟localization？

[zouzhe1]

补充：apollo10.0最新代码。

[daohu527]

Yes, there is indeed a problem with the coordinate system here, but the previous one was also wrong. The previous coordinate name was novatel, and it is reasonable to change it to imu.

And there is indeed a problem here. In the localization module, the real-time acquisition of coordinate transformation will cause the acquisition of tf to fail.