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Signed-off-by: Melike Tanrıkulu <[email protected]>
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meliketanrikulu committed Oct 2, 2024
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#### Related Links

The Issue --> <https://github.com/autowarefoundation/autoware.universe/issues/7652> </br>
Data Collection Documentation --> <https://autowarefoundation.github.io/autoware-documentation/main/datasets/#istanbul-open-dataset>

#### Purpose
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You can find the data collected for testing and mapping in this [Documentation](https://autowarefoundation.github.io/autoware-documentation/main/datasets/#istanbul-open-dataset).

> <span style="color:blue">**NOTE ! :**</span> </br>
> <span style="color:green">**NOTE !**</span> </br>
> Since there was no velocity source coming from the vehicle during all these tests, the twist message coming from GNSS/INS was given to ekf_localizer as the linear&angular velocity source. </br>
> In order to understand whether this increases the error in cases where the GNSS/INS error increases in the tunnel and how it affects the system, localization in the tunnel was tested by giving only the pose from the NDT, without giving this velocity to ekf_localizer. </br>
>
Expand Down Expand Up @@ -56,7 +55,7 @@ mkdir ~/autoware_ista_map
gdown --id 1WPWmFCjV7eQee4kyBpmGNlX7awerCPxc -O ~/autoware_ista_map/
```

> <span style="color:blue">**NOTE ! :**</span></br>
> <span style="color:green">**NOTE !**</span></br>
> You also need to add `lanelet2_map.osm` file to autoware_ista_map folder. Since no lanelet file is created for this map at the

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> moment, you can run any `lanelet2_map.osm` file by placing it in this folder.
Expand Down Expand Up @@ -134,7 +133,7 @@ mkdir ~/autoware_ista_map
gdown --id 1WPWmFCjV7eQee4kyBpmGNlX7awerCPxc -O ~/autoware_ista_map/
```

> <span style="color:blue">**NOTE ! :**</span></br>
> <span style="color:green">**NOTE !**</span></br>
> You also need to add `lanelet2_map.osm` file to autoware_ista_map folder. Since no lanelet file is created for this map at the

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> moment, you can run any `lanelet2_map.osm` file by placing it in this folder.
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