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yabloc_pose_initializer#

This package contains a node related to initial pose estimation.

This package requires the pre-trained semantic segmentation model for runtime. This model is usually downloaded by ansible during env preparation phase of the installation. It is also possible to download it manually. Even if the model is not downloaded, initialization will still complete, but the accuracy may be compromised.

To download and extract the model manually:

$ mkdir -p ~/autoware_data/yabloc_pose_initializer/
$ wget -P ~/autoware_data/yabloc_pose_initializer/ \
       https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz
$ tar xzf ~/autoware_data/yabloc_pose_initializer/resources.tar.gz -C ~/autoware_data/yabloc_pose_initializer/

Note#

This package makes use of external code. The trained files are provided by apollo. The trained files are automatically downloaded during env preparation.

Original model URL

https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/intel/road-segmentation-adas-0001

Open Model Zoo is licensed under Apache License Version 2.0.

Converted model URL

https://github.com/PINTO0309/PINTO_model_zoo/tree/main/136_road-segmentation-adas-0001

model conversion scripts are released under the MIT license

Special thanks#

camera_pose_initializer#

Purpose#

  • This node estimates the initial position using the camera at the request of ADAPI.

Input#

Name Type Description
input/camera_info sensor_msgs::msg::CameraInfo undistorted camera info
input/image_raw sensor_msgs::msg::Image undistorted camera image
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map

Output#

Name Type Description
output/candidates visualization_msgs::msg::MarkerArray initial pose candidates

Parameters#

Name Type Description Default Range
angle_resolution float how many divisions of 1 sigma angle range 30 N/A

Services#

Name Type Description
yabloc_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped initial pose estimation request