Apollo详解之定位模块——MSF定位

前言

代码分析

MSFLocalizationComponent::Init

该组件的初始化函数，msf定位组件也是通过命令行参数进行初始化，各参数均在modules/localization/conf/localization.conf文件中进行定义，

外参文件：

• modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml
  作用未知

leverarm:
  primary:
    offset:
      x: -0.5016
      y: 0.5334
      z: 0.8763
    uncertainty:
      x: 0.05
      y: 0.05
      z: 0.05
  secondary:
    offset:
      x: 0.5461
      y: 0.5334
      z: 0.8763
    uncertainty:
      x: 0.05
      y: 0.05
      z: 0.05

• modules/localization/msf/params/vehicle_params/vehicle_imu_extrinsics.yaml
  作用未知

transform:
  translation:
    x: 0.0
    y: 0.0
    z: 0.0
  rotation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

• modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
  激光雷达外参文件，即激光雷达坐标系和组合导航坐标系的静态tf变换

header:
  stamp:
    secs: 1542235619
    nsecs: 0
  frame_id: novatel
  seq: 0
child_frame_id: velodyne128
transform:
  rotation:
    x: 0.007209096210038245
    y: 0.01691200555753232
    z: 0.7076293956185187
    w: 0.7063445699206772
  translation:
    x: 0.03614259942391
    y: 1.033871037991605
    z: 1.21285

• modules/localization/msf/params/velodyne_params/velodyne128_height.yaml
  激光雷达高度参数文件

vehicle:
  parameters:
    height: 1.89
    height_var: 0.0045

话题相关

订阅：

• /apollo/sensor/lidar128/compensator/PointCloud2。激光点云消息
• /apollo/sensor/gnss/best_pose。GPS定位消息
• /apollo/sensor/gnss/heading。车辆朝向消息
• /apollo/sensor/gnss/imu。IMU消息

发布：

• /apollo/localization/msf_lidar激光点云定位消息
• /apollo/localization/msf_gnss根据卡尔曼滤波计算得到的GNSS定位消息
• apollo/localization/msf_statusMSF融合定位状态
• /apollo/localization/pose融合定位消息

各回调函数作用