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Localization#

Node diagram

Inputs#

Pointcloud Map#

Environment map created with point cloud, published by the map server.

  • sensor_msgs/msg/PointCloud2

A 3d point cloud map is used for LiDAR-based localization in Autoware.

Manual Initial Pose#

Start pose of ego, published by the user interface.

  • geometry_msgs/msg/PoseWithCovarianceStamped
    • std_msgs/msg/Header header
    • geometry_msgs/msg/PoseWithCovariance pose
      • geometry_msgs/msg/Pose pose
        • geometry_msgs/msg/Point position
        • geometry_msg/msg/Quaternion orientation
      • double[36] covariance

3D-LiDAR Scanning#

LiDAR scanning for NDT matching, published by the LiDAR sensor.

  • sensor_msgs/msg/PointCloud2

The raw 3D-LiDAR data needs to be processed by the point cloud pre-processing modules before being used for localization.

Automatic Initial pose#

Start pose of ego, calculated from INS(Inertial navigation sensor) sensing data.

  • geometry_msgs/msg/PoseWithCovarianceStamped
    • std_msgs/msg/Header header
    • geometry_msgs/msg/PoseWithCovariance pose
      • geometry_msgs/msg/Pose pose
        • geometry_msgs/msg/Point position
        • geometry_msg/msg/Quaternion orientation
      • double[36] covariance

When the initial pose is not set manually, the message can be used for automatic pose initialization.

Current Geographic coordinate of the ego, published by the GNSS sensor.

  • sensor_msgs/msg/NavSatFix
    • std_msgs/msg/Header header
    • sensor_msgs/msg/NavSatStatus status
    • double latitude
    • double longitude
    • double altitude
    • double[9] position_covariance
    • unit8 position_covariance_type

Current orientation of the ego, published by the GNSS-INS.

  • autoware_sensing_msgs/msg/GnssInsOrientationStamped
    • std_msgs/Header header
    • autoware_sensing_msgs/msg/GnssInsOrientation orientation
      • geometry_msgs/Quaternion orientation
      • float32 rmse_rotation_x
      • float32 rmse_rotation_y
      • float32 rmse_rotation_z

IMU Data#

Current orientation, angular velocity and linear acceleration of ego, calculated from IMU sensing data.

  • sensor_msgs/msg/Imu
    • std_msgs/msg/Header header
    • geometry_msgs/msg/Quaternion orientation
    • double[9] orientation_covariance
    • geometry_msgs/msg/Vector3 angular_velocity
    • double[9] angular_velocity_covariance
    • geometry_msgs/msg/Vector3 linear_acceleration
    • double[9] linear_acceleration_covariance

Vehicle Velocity Status#

Current velocity of the ego vehicle, published by the vehicle interface.

  • autoware_vehicle_msgs/msg/VelocityReport
    • std_msgs/msg/Header header;
    • float longitudinal_velocity;
    • float lateral_velocity;
    • float heading_rate;

Before the velocity input localization interface, module autoware_vehicle_velocity_converter converts message type autoware_vehicle_msgs/msg/VelocityReport to geometry_msgs/msg/TwistWithCovarianceStamped.

Outputs#

Vehicle pose#

Current pose of ego, calculated from localization interface.

  • geometry_msgs/msg/PoseWithCovarianceStamped
    • std_msgs/msg/Header header
    • geometry_msg/PoseWithCovariance pose
      • geometry_msgs/msg/Pose pose
        • geometry_msgs/msg/Point position
        • geometry_msgs/msg/Quaternion orientation
      • double[36] covariance

Vehicle velocity#

Current velocity of ego, calculated from localization interface.

  • geometry_msgs/msg/TwistWithCovarianceStamped
    • std_msgs/msg/Header header
    • geometry_msg/TwistWithCovariance twist
      • geometry_msgs/msg/Twist twist
        • geometry_msgs/msg/Vector3 linear
        • geometry_msgs/msg/Vector3 angular
      • double[36] covariance

Vehicle acceleration#

Current acceleration of ego, calculated from localization interface.

  • geometry_msgs/msg/AccelWithCovarianceStamped
    • std_msgs/msg/Header header
    • geometry_msg/AccelWithCovariance accel
      • geometry_msgs/msg/Accel accel
        • geometry_msgs/msg/Vector3 linear
        • geometry_msgs/msg/Vector3 angular
      • double[36] covariance

Vehicle kinematic state#

Current pose, velocity and acceleration of ego, calculated from localization interface.

Note: Kinematic state contains pose, velocity and acceleration. In the future, pose, velocity and acceleration will not be used as output for localization.

  • autoware_msgs/autoware_localization_msgs/msg/KinematicState
    • std_msgs/msg/Header header
    • string child_frame_id
    • geometry_msgs/PoseWithCovariance pose_with_covariance
    • geometry_msgs/TwistWithCovariance twist_with_covariance
    • geometry_msgs/AccelWithCovariance accel_with_covariance

The message will be subscribed by the planning and control module.

Localization Accuracy#

Diagnostics information that indicates if the localization module works properly.

TBD.