Frames Description - AD-EYE/AD-EYE_Core GitHub Wiki

Full frame tree (with NDT matching)

Nominal channel frames

Frame	Description
world	Global frame of reference
map	Global frame used for the vector map and the point cloud map.
gps	GNSS sensor frame.
base_link	Car's frame positioned at the center point between the two back wheels.
radar	Radar sensor frame.
velodyne	Lidar sensor frame.
camera_1	Camera 1 sensor frame.
camera_2	Camera 2 sensor frame.
tl_camera	Traffic light camera sensor frame.

With NDT matching

The ndt_matching nodes publishes the transform from map to base_link. This node is started in my_localization.launch.

See the picture above for the full frame tree with NDT matching.

With Fake Localization

The fake_localizer nodes publishes the transform from map to base_link under the name ground_truth_localizer. This node is started in my_fake_localization.launch.

The following picture shows the full frame tree using fake localization.

Safety channel frames

The safety channel defines two frames descried in the table below.

Frame	Description
SSMP_map	Global frame used for safety channel grid map.
SSMP_base_link	Car frame according to the the safety channel.