pose_initializer

Purpose

The pose_initializer is the package to send an initial pose to ekf_localizer. It receives roughly estimated initial pose from GNSS/user. Passing the pose to ndt_scan_matcher, and it gets a calculated ego pose from ndt_scan_matcher via service. Finally, it publishes the initial pose to ekf_localizer. This node depends on the map height fitter library. See here for more details.

Interfaces

Parameters

Name	Type	Description	Default	Range
user_defined_initial_pose.enable	string	If true, user_defined_initial_pose.pose is set as the initial position. [boolean]	false	N/A
user_defined_initial_pose.pose	string	initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w). [array]	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]	N/A
gnss_pose_timeout	float	The duration that the GNSS pose is valid. [sec]	3.0	≥0.0
stop_check_enabled	string	If true, initialization is accepted only when the vehicle is stopped.	true	N/A
stop_check_duration	float	The duration used for the stop check above. [sec]	3.0	≥0.0
ekf_enabled	string	If true, EKF localizer is activated.	true	N/A
gnss_enabled	string	If true, use the GNSS pose when no pose is specified.	true	N/A
yabloc_enabled	string	If true, YabLocModule is used.	true	N/A
ndt_enabled	string	If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.	true	N/A
gnss_particle_covariance	array	gnss particle covariance	[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]	N/A
output_pose_covariance	array	output pose covariance	[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]	N/A

Services

Name	Type	Description
/localization/initialize	autoware_adapi_v1_msgs::srv::InitializeLocalization	initial pose from api

Clients

Name	Type	Description
/localization/pose_estimator/ndt_align_srv	tier4_localization_msgs::srv::PoseWithCovarianceStamped	pose estimation service

Subscriptions

Name	Type	Description
/sensing/gnss/pose_with_covariance	geometry_msgs::msg::PoseWithCovarianceStamped	pose from gnss
/sensing/vehicle_velocity_converter/twist_with_covariance	geometry_msgs::msg::TwistStamped	twist for stop check

Publications

Name	Type	Description
/localization/initialization_state	autoware_adapi_v1_msgs::msg::LocalizationInitializationState	pose initialization state
/initialpose3d	geometry_msgs::msg::PoseWithCovarianceStamped	calculated initial ego pose

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.