Have problem when using Yabloc with own rosbag

[StepTurtle]

Hey, great work! It looks very good. I hope it will be implemented Autoware soon.

When I tested the project, I encountered some issues. I followed the instructions in the README and ran the code, but I believe I might be doing something wrong. The algorithm is able to detect lanes, but the trajectory is following the wrong path. You can take a look at the trajectory image below:

The trajectory should ideally follow the blue line, but it seems to deviate as if there is a transformation error. I've also included a video demonstrating the problem. If you have any ideas or suggestions regarding this issue, I would greatly appreciate your thoughts.

I just changed image and image_info topics from yabloc.launch.xml and imu topic from twist_estimator_core.cpp. I think yabloc got all of the transformation values from tf_static, I would appreciate it if you correct me if I'm wrong.

Terminal commands I used:

• ros2 launch yabloc_launch sample.launch.xml
• ros2 launch yabloc_launch rviz.launch.xml
• ros2 launch autoware_launch logging_simulator.launch.xml system:=false localization:=false sensing:=false perception:=false control:=false rviz:=true vehicle_model:=golf_vehicle sensor_model:=golf_sensor_model vehicle_id:=golf map_path:=/home/bzeren/autoware_map/yildiz/
• ros2 bag play bags/yabloc-1/ --clock -r 1.0 --topics /sensing/imu/imu_data /lucid_vision/front_camera/camera_info /lucid_vision/front_camera/image_compressed /vehicle/status/velocity_status /sensing/gnss/pose_with_covariance /sensing/gnss/pose /tf_static

[KYabuuchi]

@StepTurtle Please try setting the upside_down in this link to false.
In my dataset, the IMU is usually attached upside down, so it is implemented assuming this. I guess the IMU is attached upright in your data, so the rotation estimation is broken.

Originally, I was planning to replace it with Autoware's twist_estimator, so YabLoc's twist_estimator has several flaws. I apologize for the inconvenience.

[KYabuuchi]

By the way, thank you for your interest in YabLoc. 🙏 I will fix the IMU issue soon.

[StepTurtle]

I thank you for your great work, and for your response. Making upside_down false solved my problem almost.

Also I am sharing result image with you, if you want to see.

There is a little bit error in trajectory, but in my rosbag roads are not good enough. Maybe it cause the localization error, I am not sure.