yabloc_pose_initializer

This package contains a node related to initial pose estimation.

• camera_pose_initializer

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

• openvinotoolkit/open_model_zoo
• PINTO0309

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