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Localization

Introduction

This module provides localization service. There are two methods provided by default. One is RTK(Real Time Kinematic) based method which incorporates GPS and IMU information, the other is multi-sensor fusion method which incorporates GPS, IMU, and LiDAR information.

Input

In the provided RTK localization method, there are two inputs:

  • GPS - The Global Position System.
  • IMU - Inertial Measurement Unit.

In the provided multi-sensor fusion localization method, there are three inputs:

  • GPS - The Global Position System.
  • IMU - Inertial Measurement Unit.
  • LiDAR - Light Detection And Ranging Sensor. For more information, refer to multi-sensor fusion localizaiton.

Output

  • An object instance defined by Protobuf message LocalizationEstimate, which can be found in file localization/proto/localization.proto.

Add localization implementation

Currently the RTK based localization is implemented in class RTKLocalization. If a new localization method need to be implemented with a name such as FooLocalization, you can follow the following steps:

  1. In proto/localization_config.proto, add FOO in the LocalizationType enum type.

  2. Go to the modules/localization directory, and create a foo directory. In the foo directory, implement class FooLocalization following the RTKLocalization class in the rtk directory. FooLocalization has to be a subclass of LocalizationBase. Also create file foo/BUILD following file rtk/BUILD.

  3. You need to register FooLocalizatoin class in function Localization::RegisterLocalizationMethods(), which is located in cpp file localization.cc. You can register by inserting the following code at the end of the function:

localization_factory_.Register(LocalizationConfing::FOO, []()->LocalizationBase* { return new FooLocalization(); });

Make sure your code can be compiled by including the header files that defines class FooLocalization.

  1. Now you can go back to the apollo root directory and build your code with command bash apollo.sh build.