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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Yamato Ando
- Kento Yabuuchi
- Masahiro Sakamoto
- NGUYEN Viet Anh
- Taiki Yamada
- Shintaro Sakoda
- Ryu Yamamoto
Authors
- Yamato Ando
autoware_ndt_scan_matcher
Purpose
autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.
There are two main functions in this package:
- estimate position by scan matching
- estimate initial position via the ROS service using the Monte Carlo method
One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
ekf_pose_with_covariance |
geometry_msgs::msg::PoseWithCovarianceStamped |
initial pose |
points_raw |
sensor_msgs::msg::PointCloud2 |
sensor pointcloud |
sensing/gnss/pose_with_covariance |
sensor_msgs::msg::PoseWithCovarianceStamped |
base position for regularization term |
sensing/gnss/pose_with_covarianceis required only when regularization is enabled.
Output
| Name | Type | Description |
|---|---|---|
ndt_pose |
geometry_msgs::msg::PoseStamped |
estimated pose |
ndt_pose_with_covariance |
geometry_msgs::msg::PoseWithCovarianceStamped |
estimated pose with covariance |
/diagnostics |
diagnostic_msgs::msg::DiagnosticArray |
diagnostics |
points_aligned |
sensor_msgs::msg::PointCloud2 |
[debug topic] pointcloud aligned by scan matching |
points_aligned_no_ground |
sensor_msgs::msg::PointCloud2 |
[debug topic] no ground pointcloud aligned by scan matching |
initial_pose_with_covariance |
geometry_msgs::msg::PoseWithCovarianceStamped |
[debug topic] initial pose used in scan matching |
multi_ndt_pose |
geometry_msgs::msg::PoseArray |
[debug topic] estimated poses from multiple initial poses in real-time covariance estimation |
multi_initial_pose |
geometry_msgs::msg::PoseArray |
[debug topic] initial poses for real-time covariance estimation |
exe_time_ms |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] execution time for scan matching [ms] |
transform_probability |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] score of scan matching |
no_ground_transform_probability |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] score of scan matching based on no ground LiDAR scan |
iteration_num |
autoware_internal_debug_msgs::msg::Int32Stamped |
[debug topic] number of scan matching iterations |
initial_to_result_relative_pose |
geometry_msgs::msg::PoseStamped |
[debug topic] relative pose between the initial point and the convergence point |
initial_to_result_distance |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] distance difference between the initial point and the convergence point [m] |
initial_to_result_distance_old |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m] |
initial_to_result_distance_new |
autoware_internal_debug_msgs::msg::Float32Stamped |
[debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m] |
ndt_marker |
visualization_msgs::msg::MarkerArray |
[debug topic] markers for debugging |
monte_carlo_initial_pose_marker |
visualization_msgs::msg::MarkerArray |
[debug topic] particles used in initial position estimation |
Service
| Name | Type | Description |
|---|---|---|
ndt_align_srv |
autoware_localization_srvs::srv::PoseWithCovarianceStamped |
service to estimate initial pose |
Parameters
Core Parameters
Frame
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}
Sensor Points
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}
Ndt
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}
Initial Pose Estimation
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}
Validation
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}
Score Estimation
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}
Covariance
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}
Regularization
Abstract
This is a function that adds the regularization term to the NDT optimization problem as follows.
\[\begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot \begin{pmatrix} 1\\ 0\\ 0 \end{pmatrix} \right|^2 \end{align}\], where t_base is base position measured by GNSS or other means. NDT(R,t) stands for the pure NDT cost function. The regularization term shifts the optimal solution to the base position in the longitudinal direction of the vehicle. Only errors along the longitudinal direction with respect to the base position are considered; errors along Z-axis and lateral-axis error are not considered.
Although the regularization term has rotation as a parameter, the gradient and hessian associated with it is not computed to stabilize the optimization. Specifically, the gradients are computed as follows.
\[\begin{align} &g_x=\nabla_x \mathrm{NDT}(\mathbf{R},\mathbf{t}) + 2 \mathrm{scale\ factor} \cos\theta_z\cdot e_{\mathrm{longitudinal}} \\ &g_y=\nabla_y \mathrm{NDT}(\mathbf{R},\mathbf{t}) + 2 \mathrm{scale\ factor} \sin\theta_z\cdot e_{\mathrm{longitudinal}} \\ &g_z=\nabla_z \mathrm{NDT}(\mathbf{R},\mathbf{t}) \\ &g_\mathbf{R}=\nabla_\mathbf{R} \mathrm{NDT}(\mathbf{R},\mathbf{t}) \end{align}\]Regularization is disabled by default. If you wish to use it, please edit the following parameters to enable it.
Where is regularization available
This feature is effective on feature-less roads where GNSS is available, such as
- bridges
- highways
- farm roads
By remapping the base position topic to something other than GNSS, as described below, it can be valid outside of these.
Using other base position
Other than GNSS, you can give other global position topics obtained from magnetic markers, visual markers or etc. if they are available in your environment.
(Currently Autoware does not provide a node that gives such pose.)
To use your topic for regularization, you need to remap the input_regularization_pose_topic with your topic in ndt_scan_matcher.launch.xml.
By default, it is remapped with /sensing/gnss/pose_with_covariance.
Limitations
Since this function determines the base position by linear interpolation from the recently subscribed poses, topics that are published at a low frequency relative to the driving speed cannot be used. Inappropriate linear interpolation may result in bad optimization results.
When using GNSS for base location, the regularization can have negative effects in tunnels, indoors, and near skyscrapers. This is because if the base position is far off from the true value, NDT scan matching may converge to inappropriate optimal position.
Parameters
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt_regularization.json”) }}
Regularization is disabled by default because GNSS is not always accurate enough to serve the appropriate base position in any scenes.
If the scale_factor is too large, the NDT will be drawn to the base position and scan matching may fail. Conversely, if it is too small, the regularization benefit will be lost.
Note that setting scale_factor to 0 is equivalent to disabling regularization.
Example
The following figures show tested maps.
- The left is a map with enough features that NDT can successfully localize.
- The right is a map with so few features that the NDT cannot localize well.
The following figures show the trajectories estimated on the feature-less map with standard NDT and regularization-enabled NDT, respectively. The color of the trajectory indicates the error (meter) from the reference trajectory, which is computed with the feature-rich map.
- The left figure shows that the pure NDT causes a longitudinal error in the bridge and is not able to recover.
- The right figure shows that the regularization suppresses the longitudinal error.
Dynamic map loading
Autoware supports dynamic map loading feature for ndt_scan_matcher. Using this feature, NDT dynamically requests for the surrounding pointcloud map to pointcloud_map_loader, and then receive and preprocess the map in an online fashion.
Using the feature, ndt_scan_matcher can theoretically handle any large size maps in terms of memory usage. (Note that it is still possible that there exists a limitation due to other factors, e.g. floating-point error)
Additional interfaces
Additional outputs
| Name | Type | Description |
|---|---|---|
debug/loaded_pointcloud_map |
sensor_msgs::msg::PointCloud2 |
pointcloud maps used for localization (for debug) |
Additional client
| Name | Type | Description |
|---|---|---|
client_map_loader |
autoware_map_msgs::srv::GetDifferentialPointCloudMap |
map loading client |
Parameters
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/dynamic_map_loading.json”) }}
Notes for dynamic map loading
To use dynamic map loading feature for ndt_scan_matcher, you also need to split the PCD files into grids (recommended size: 20[m] x 20[m])
Note that the dynamic map loading may FAIL if the map is split into two or more large size map (e.g. 1000[m] x 1000[m]). Please provide either of
- one PCD map file
- multiple PCD map files divided into small size (~20[m])
Here is a split PCD map for sample-map-rosbag from Autoware tutorial: sample-map-rosbag_split.zip
| PCD files | How NDT loads map(s) |
|---|---|
| single file | at once (standard) |
| multiple files | dynamically |
Scan matching score based on no ground LiDAR scan
Abstract
This is a function that uses no ground LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately. related issue.
Parameters
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation_no_ground_points.json”) }}
2D real-time covariance estimation
Abstract
Initially, the covariance of NDT scan matching is a fixed value(FIXED_VALUE mode). So, three modes are provided for 2D covariance (xx, xy, yx, yy) estimation in real time: LAPLACE_APPROXIMATION, MULTI_NDT, and MULTI_NDT_SCORE. LAPLACE_APPROXIMATION calculates the inverse matrix of the XY (2x2) part of the Hessian obtained by NDT scan matching and uses it as the covariance matrix. On the other hand, MULTI_NDT, and MULTI_NDT_SCORE use NDT convergence from multiple initial poses to obtain 2D covariance. Ideally, the arrangement of multiple initial poses is efficiently limited by the Hessian matrix of the NDT score function. In this implementation, the number of initial positions is fixed to simplify the code. To obtain the covariance, MULTI_NDT computes until convergence at each initial position, while MULTI_NDT_SCORE uses the nearest voxel transformation likelihood. The covariance can be seen as error ellipse from ndt_pose_with_covariance setting on rviz2. original paper.
Note that this function may spoil healthy system behavior if it consumes much calculation resources.
Parameters
There are three types in the calculation of 2D covariance in real time.You can select the method by changing covariance_estimation_type. initial_pose_offset_model is rotated around (x,y) = (0,0) in the direction of the first principal component of the Hessian matrix. initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. In MULTI_NDT_SCORE mode, the scale of the output 2D covariance can be adjusted according to the temperature.
{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json”) }}
Diagnostics
scan_matching_status
| Name | Description | Transition condition to Warning | Transition condition to Error | Whether to reject the estimation result (affects skipping_publish_num) |
|---|---|---|---|---|
topic_time_stamp |
the time stamp of input topic | none | none | no |
sensor_points_size |
the size of sensor points | the size is 0 | none | yes |
sensor_points_delay_time_sec |
the delay time of sensor points | the time is longer than sensor_points.timeout_sec
|
none | yes |
is_succeed_transform_sensor_points |
whether transform sensor points is succeed or not | none | failed | yes |
sensor_points_max_distance |
the max distance of sensor points | the max distance is shorter than sensor_points.required_distance
|
none | yes |
is_activated |
whether the node is in the “activate” state or not | not “activate” state | none | if is_activated is false, then estimation is not executed and skipping_publish_num is set to 0. |
is_succeed_interpolate_initial_pose |
whether the interpolate of initial pose is succeed or not | failed. (1) the size of initial_pose_buffer_ is smaller than 2. (2) the timestamp difference between initial_pose and sensor pointcloud is longer than validation.initial_pose_timeout_sec. (3) distance difference between two initial poses used for linear interpolation is longer than validation.initial_pose_distance_tolerance_m
|
none | yes |
is_set_map_points |
whether the map points is set or not | not set | none | yes |
iteration_num |
the number of times calculate alignment | the number of times is larger than ndt.max_iterations
|
none | yes |
local_optimal_solution_oscillation_num |
the number of times the solution is judged to be oscillating | the number of times is larger than 10 | none | yes |
transform_probability |
the score of how well the map aligns with the sensor points | the score is smaller thanscore_estimation.converged_param_transform_probability (only in the case of score_estimation.converged_param_type is 0=TRANSFORM_PROBABILITY) |
none | yes |
transform_probability_diff |
the tp score difference for the current ndt optimization | none | none | no |
transform_probability_before |
the tp score before the current ndt optimization | none | none | no |
nearest_voxel_transformation_likelihood |
the score of how well the map aligns with the sensor points | the score is smaller than score_estimation.converged_param_nearest_voxel_transformation_likelihood (only in the case of score_estimation.converged_param_type is 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) |
none | yes |
nearest_voxel_transformation_likelihood_diff |
the nvtl score difference for the current ndt optimization | none | none | no |
nearest_voxel_transformation_likelihood_before |
the nvtl score before the current ndt optimization | none | none | no |
distance_initial_to_result |
the distance between the position before convergence processing and the position after | the distance is longer than validation.initial_to_result_distance_tolerance_m
|
none | no |
execution_time |
the time for convergence processing | the time is longer than validation.critical_upper_bound_exe_time_ms
|
none | no |
skipping_publish_num |
the number of times rejected estimation results consecutively | the number of times is validation.skipping_publish_num or more |
none | - |
※The sensor_points_callback shares the same callback group as the trigger_node_service and ndt_align_service. Consequently, if the initial pose estimation takes too long, this diagnostic may become stale.
initial_pose_subscriber_status
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
topic_time_stamp |
the time stamp of input topic | none | none |
is_activated |
whether the node is in the “activate” state or not | not “activate” state | none |
is_expected_frame_id |
whether the input frame_id is the same as frame.map_frame or not |
none | not the same |
regularization_pose_subscriber_status
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
topic_time_stamp |
the time stamp of input topic | none | none |
trigger_node_service_status
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
service_call_time_stamp |
the time stamp of service calling | none | none |
is_activated |
whether the node is in the “activate” state or not | none | none |
is_succeed_service |
whether the process of service is succeed or not | none | none |
※ This diagnostic is only published when the service is called, so it becomes stale after the initial pose estimation is completed.
ndt_align_service_status
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
service_call_time_stamp |
the time stamp of service calling | none | none |
is_succeed_transform_initial_pose |
whether transform initial pose is succeed or not | none | failed |
is_need_rebuild |
whether it need to rebuild the map. If the map has not been loaded yet or if distance_last_update_position_to_current_position encounters is an Error state, it is considered necessary to reconstruct the map, and is_need_rebuild becomes True. |
none | none |
maps_size_before |
the number of maps before update map | none | none |
is_succeed_call_pcd_loader |
whether call pcd_loader service is succeed or not | failed | none |
maps_to_add_size |
the number of maps to be added | none | none |
maps_to_remove_size |
the number of maps to be removed | none | none |
map_update_execution_time |
the time for map updating | none | none |
maps_size_after |
the number of maps after update map | none | none |
is_updated_map |
whether map is updated. If the map update couldn’t be performed or there was no need to update the map, it becomes False
|
none |
is_updated_map is False but is_need_rebuild is True
|
is_set_map_points |
whether the map points is set or not | not set | none |
is_set_sensor_points |
whether the sensor points is set or not | not set | none |
best_particle_score |
the best score of particle | none | none |
is_succeed_service |
whether the process of service is succeed or not | failed | none |
※ This diagnostic is only published when the service is called, so it becomes stale after the initial pose estimation is completed.
map_update_status
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
timer_callback_time_stamp |
the time stamp of timer_callback calling | none | none |
is_activated |
whether the node is in the “activate” state or not | not “activate” state | none |
is_set_last_update_position |
whether the last_update_position is set or not |
not set | none |
distance_last_update_position_to_current_position |
the distance of last_update_position to current position |
none | (the distance + dynamic_map_loading.lidar_radius) is larger than dynamic_map_loading.map_radius
|
is_need_rebuild |
whether it need to rebuild the map. If the map has not been loaded yet or if distance_last_update_position_to_current_position encounters is an Error state, it is considered necessary to reconstruct the map, and is_need_rebuild becomes True. |
none | none |
maps_size_before |
the number of maps before update map | none | none |
is_succeed_call_pcd_loader |
whether call pcd_loader service is succeed or not | failed | none |
maps_to_add_size |
the number of maps to be added | none | none |
maps_to_remove_size |
the number of maps to be removed | none | none |
map_update_execution_time |
the time for map updating | none | none |
maps_size_after |
the number of maps after update map | none | none |
is_updated_map |
whether map is updated. If the map update couldn’t be performed or there was no need to update the map, it becomes False
|
none |
is_updated_map is False but is_need_rebuild is True
|
Changelog for package autoware_ndt_scan_matcher
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- fix(ndt_scan_matcher): fix the covariance calculation (#10252) Fix the covariance calculation
- Contributors: Anh Nguyen, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files localization/autoware_ndt_scan_matcher (#9861) Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>
- refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)
- feat!: move diagnostics_module from localization_util to
unverse_utils
(#9714)
- feat!: move diagnostics_module from localization_util to unverse_utils
- remove diagnostics module from localization_util
- style(pre-commit): autofix
- minor fix in pose_initializer
- add test
- style(pre-commit): autofix
- remove unnecessary declaration
- module -> interface
- remove unnecessary equal expression
- revert the remove of template function
- style(pre-commit): autofix
- use overload instead
* include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, Vishal Chauhan, kminoda
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - localization (#9567)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix(autoware_ndt_scan_matcher): remove unsed functions (#9387)
- perf(autoware_ndt_scan_matcher): remove evecs_, evals_ of Leaf
for memory efficiency
(#9281)
* fix(lane_change): correct computation of maximum lane changing
length threshold
(#9279)
fix computation of maximum lane changing length threshold
- perf: remove evecs, evals from Leaf
* perf: remove evecs, evals from Leaf ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>>
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (#9275)
- fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (#9218) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
- refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into
ndt_scan_matcher
(#8912)
- Moved ndt_omp into ndt_scan_matcher
- Added Copyright
- style(pre-commit): autofix
- Fixed include
- Fixed cast style
- Fixed include
- Fixed honorific title
- Fixed honorific title
- style(pre-commit): autofix
- Fixed include hierarchy
- style(pre-commit): autofix
- Fixed include hierarchy
- style(pre-commit): autofix
- Fixed hierarchy
- Fixed NVTP to NVTL
- Added cspell:ignore
- Fixed miss spell
- style(pre-commit): autofix
- Fixed include
- Renamed applyFilter
- Moved ***_impl.hpp from include/ to src/
- style(pre-commit): autofix
- Fixed variable scope
* Fixed to pass by reference ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Esteve Fernandez, Fumiya Watanabe, Kento Osa, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, SakodaShintaro, Yutaka Kondo
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- perf(autoware_ndt_scan_matcher): remove evecs_, evals_ of Leaf
for memory efficiency
(#9281)
* fix(lane_change): correct computation of maximum lane changing
length threshold
(#9279)
fix computation of maximum lane changing length threshold
- perf: remove evecs, evals from Leaf
* perf: remove evecs, evals from Leaf ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>>
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- fix(autoware_ndt_scan_matcher): fix cppcheck unusedFunction (#9275)
- fix(autoware_ndt_scan_matcher): reduce initial_pose_estimation.particles_num from 200 to 100 on tests (#9218) Reduced initial_pose_estimation.particles_num from 200 to 100 on tests
- refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into
ndt_scan_matcher
(#8912)
- Moved ndt_omp into ndt_scan_matcher
- Added Copyright
- style(pre-commit): autofix
- Fixed include
- Fixed cast style
- Fixed include
- Fixed honorific title
- Fixed honorific title
- style(pre-commit): autofix
- Fixed include hierarchy
- style(pre-commit): autofix
- Fixed include hierarchy
- style(pre-commit): autofix
- Fixed hierarchy
- Fixed NVTP to NVTL
- Added cspell:ignore
- Fixed miss spell
- style(pre-commit): autofix
- Fixed include
- Renamed applyFilter
- Moved ***_impl.hpp from include/ to src/
- style(pre-commit): autofix
- Fixed variable scope
* Fixed to pass by reference ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Esteve Fernandez, Kento Osa, Ryuta Kambe, SakodaShintaro, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util
- refactor(ndt_scan_matcher)!: prefix package and namespace with autoware (#8904) add autoware_ prefix
- Contributors: Masaki Baba, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| fmt |
| libpcl-all-dev |
Dependant Packages
| Name | Deps |
|---|---|
| tier4_localization_launch |
Launch files
- launch/ndt_scan_matcher.launch.xml
-
- param_file [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]
- input_pointcloud [default: points_raw]
- input_initial_pose_topic [default: ekf_pose_with_covariance]
- input_regularization_pose_topic [default: regularization_pose_with_covariance]
- input_service_trigger_node [default: trigger_node]
- output_pose_topic [default: ndt_pose]
- output_pose_with_covariance_topic [default: ndt_pose_with_covariance]
- client_map_loader [default: pcd_loader_service]
- node_name [default: ndt_scan_matcher]