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 |
|---|---|---|---|---|
| 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.
