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pre-commit-ci[bot] committed Mar 5, 2025
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Expand Up @@ -59,14 +59,14 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-test
ros2 run autoware_tp_manager tp_checker.py <path_to_score_dir> <path_to_rosbag> [--pose_topic <topic_of_poses>] [--tp_topic <topic_of_TPs>] [--scan_topic <topic_of_scans>] [--radius <radius>] [--drop_num <drop_num>]
```

| Name | Description |
| ----------------- | ------------------------------------------------------------------------------------------------------------------------- |
| path_to_score_dir | Directory that contains the TP file (.csv) and the downsampled PCD map. This is the output directory of the tp_collector. |
| path_to_rosbag | Path to the input rosbag to be evaluated |
| topic_of_poses | Topic of poses in the evaluation rosbag |
| topic_of_TPs | Topic of TPs in the evaluation rosbag |
| topic_of_scans | Topic of scans in the evaluation rosbag |
| radius | The radius to query map segments in vicinity of poses. This is used when scan data is not available in the rosbag. |
| Name | Description |
| ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
| path_to_score_dir | Directory that contains the TP file (.csv) and the downsampled PCD map. This is the output directory of the tp_collector. |
| path_to_rosbag | Path to the input rosbag to be evaluated |
| topic_of_poses | Topic of poses in the evaluation rosbag |
| topic_of_TPs | Topic of TPs in the evaluation rosbag |
| topic_of_scans | Topic of scans in the evaluation rosbag |
| radius | The radius to query map segments in vicinity of poses. This is used when scan data is not available in the rosbag. |
| drop_num | When the number of continuous low-TP poses exceeds this number, the tool stops checking because the localization is not reliable anymore |

The results of checking are published to the topic /autoware_tp_checker, and can also be displayed on Rviz2. The red points
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