Apollo: Localization module init failurewith "Reflectance map folder is invalid"

[louietsai]

Hi
I built the Apollo v2.0.0 release, and tried to run it.
I can't run localization module and it failed at init state.
I saw a failure log "Reflectance map folder is invalid".
Do I miss anything to run localization module with msf mode?

thanks

[louietsai]

attached some error logs below.

E0111 15:59:00.154547 1618 msf_localization.cc:167] map: modules/map/data/sunnyvale_loop/local_map
E0111 15:59:00.154779 1618 msf_localization.cc:168] lidar_extrin: modules/localization/msf/params/velodyne_params/velodyne64_novatel_extrinsics_example.yaml
E0111 15:59:00.154788 1618 msf_localization.cc:169] lidar_height: modules/localization/msf/params/velodyne_params/velodyne64_height.yaml
E0111 15:59:00.154805 1618 msf_localization.cc:198] Ant imu lever arm file: modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml
F0111 15:59:00.158637 1618 velodyne_locator_omp_alt_align.cc:170] Reflectance map folder is invalid!
* Check failure stack trace: *
^[[33m/apollo/rrrrrr/apollo-platform/ros/ros_comm/roscpp/src/libros/init.cpp:660 configParse() [ WARN] [1515715139.335782363]: transport file: /home/tmp/ros/etc/ros/transport_mode.yaml is not map^[[0m
^[[33m/apollo/rrrrrr/apollo-platform/ros/ros_comm/roscpp/src/libros/init.cpp:349 start() [ WARN] [1515715139.335892487]: Parse transport_mode file failed^[[0m

[startcode]

I guess the Lidar reflection map is missing.
Can you use RTK localization method for now?
in modules/localization/conf//localization_config.pb.txt, change MSF to RTK

We will add reflection map in docker asap.

[louietsai]

thank you! will change to RTK for now.
how do we update the docker with new reflection map?
can we update by "docker/scripts/dev_start.sh" or using docker pull manually?

thanks!

[guoweiwan]

http://data.apollo.auto/help?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en
You can download reflection map and rosbags from this link.

[louietsai]

thanks!
after I got the data, and put the under folder /apollo/modules/map/data.
I can run msf localization module successfully when I select "demo" map.

regards
Louie

[YYimingWang]

thanks!
after I got the data, and put the under folder /apollo/modules/map/data.
I can run msf localization module successfully when I select "demo" map.

regards
Louie

hello,i also encountered this problem when i run the msf_localization modules.I download the data in http://data.apollo.auto/help?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en
and put the folder in apollo/data/
and then operated according to this tutorial---https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_MSF_localization_module_on_your_local_computer_cn.md
i copy the params to the corresponding folder and modify the path of map in localizaiton.conf to--map_dir=/apollo/data/data.
but i also encountered this problem as follows when i input command ./scripts/localization.sh start_fe.

E0925 13:59:35.263833 2486 msf_localization.cc:150] map: /apollo_baidu/apollo/data/data//local_map E0925 13:59:35.264330 2486 msf_localization.cc:151] lidar_extrin: modules/localization/msf/params/velodyne_params/velodyne64_novatel_extrinsics_example.yaml E0925 13:59:35.264369 2486 msf_localization.cc:152] lidar_height: modules/localization/msf/params/velodyne_params/velodyne64_height.yaml W0925 13:59:35.264410 2486 msf_localization.cc:160] Can't load utm zone id from map folder, use default value. I0925 13:59:35.264436 2486 msf_localization.cc:163] utm zone id: 10 I0925 13:59:35.264461 2486 msf_localization.cc:179] Vehile imu file: modules/localization/msf/params/vehicle_params/vehicle_imu_extrinsics.yaml I0925 13:59:35.265157 2486 msf_localization.cc:190] imu_vehicle_quat: 0 0 0 1 E0925 13:59:35.265215 2486 msf_localization.cc:217] Ant imu lever arm file: modules/localization/msf/params/gnss_params/ant_imu_leverarm.yaml I0925 13:59:35.265882 2486 msf_localization.cc:229] 0 0.71 1.08 0.05 0.05 0.08 F0925 13:59:35.266727 2486 localization_lidar.cc:58] Reflectance map folder is invalid!

can you help me?thank you!

[mengen100]

I can't download the dataset from this link...
http://data.apollo.auto/help?name=sensor%20data&data_key=multisensor&data_type=1&locale=en-us&lang=en
After I click on download, it shows me the "NoSuchKey"
Could anyone help me, else I can't run the msf localization module... Thanks in advance