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autoware_pose_covariance_modifier package from autoware_universe repo

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autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer 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autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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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 2025-04-04
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

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Additional Links

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Maintainers

  • Melike Tanrikulu

Authors

No additional authors.

Autoware Pose Covariance Modifier Node

Purpose

This package makes it possible to use GNSS and NDT poses together in real time localization.

Function

This package takes in GNSS (Global Navigation Satellite System) and NDT (Normal Distribution Transform) poses with covariances.

It outputs a single pose with covariance:

  • Directly the GNSS pose and its covariance.
  • Directly the NDT pose and its covariance.
  • Both GNSS and NDT poses with modified covariances.
  • This package doesn’t modify the pose information it receives.
  • It only modifies NDT covariance values under certain conditions.

Assumptions

  • The NDT matcher provides a pose with a fixed covariance.
  • The NDT matcher is unable to provide a dynamic, reliable covariance value.

Requirements

  • The GNSS/INS module must provide standard deviation values (its error / RMSE) for the position and orientation.
  • It probably needs RTK support to provide accurate position and orientation information.
  • You need to have a geo-referenced map.
  • GNSS/INS module and the base_link frame must be calibrated well enough.
  • In an environment where GNSS/INS and NDT systems work well, the base_link poses from both systems should be close to each other.

Description

GNSS and NDT nodes provide the pose with covariance data utilized in an Extended Kalman Filter (EKF).

Accurate covariance values are crucial for the effectiveness of the EKF in estimating the state.

The GNSS system generates reliable standard deviation values, which can be transformed into covariance measures.

But we currently don’t have a reliable way to determine the covariance values for the NDT poses. And the NDT matching system in Autoware outputs poses with preset covariance values.

For this reason, this package is designed to manage the selection of the pose source, based on the standard deviation values provided by the GNSS system.

It also tunes the covariance values of the NDT poses, based on the GNSS standard deviation values.

Flowcharts

Without this package

Only NDT pose is used in localization. GNSS pose is only used for initialization.

graph TD
    ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/pose_with_covariance"| ekf_localizer["ekf_localizer"]

classDef cl_node fill:#FFF2CC,stroke-width:3px,stroke:#D6B656;

class ndt_scan_matcher cl_node;
class ekf_localizer cl_node;

With this package

Both NDT and GNSS poses are used in localization, depending on the standard deviation values coming from the GNSS system.

Here is a flowchart depicting the process and the predefined thresholds:

graph TD
    gnss_poser["gnss_poser"] --> |"/sensing/gnss/<br/>pose_with_covariance"| pose_covariance_modifier_node
    ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/ndt_scan_matcher/<br/>pose_with_covariance"| pose_covariance_modifier_node

    subgraph pose_covariance_modifier_node ["Pose Covariance Modifier Node"]
        pc1{{"gnss_pose_yaw<br/>stddev"}}
        pc1 -->|"<= 0.3 rad"| pc2{{"gnss_pose_z<br/>stddev"}}
        pc2 -->|"<= 0.1 m"| pc3{{"gnss_pose_xy<br/>stddev"}}
        pc2 -->|"&gt; 0.1 m"| ndt_pose("NDT Pose")
        pc3 -->|"<= 0.1 m"| gnss_pose("GNSS Pose")
        pc3 -->|"0.1 m < x <= 0.2 m"| gnss_ndt_pose("`Both GNSS and NDT Pose
        (_with modified covariance_)`")
        pc3 -->|"&gt; 0.2 m"| ndt_pose
        pc1 -->|"&gt; 0.3 rad"| ndt_pose
    end

    pose_covariance_modifier_node -->|"/localization/pose_estimator/pose_with_covariance"| ekf_localizer["ekf_localizer"]

classDef cl_node fill:#FFF2CC,stroke-width:3px,stroke:#D6B656;
classDef cl_conditional fill:#FFE6CC,stroke-width:3px,stroke:#D79B00;
classDef cl_output fill:#D5E8D4,stroke-width:3px,stroke:#82B366;

class gnss_poser cl_node;
class ndt_scan_matcher cl_node;
class ekf_localizer cl_node;
class pose_covariance_modifier_node cl_node;

class pc1 cl_conditional;
class pc2 cl_conditional;
class pc3 cl_conditional;

class ndt_pose cl_output;
class gnss_pose cl_output;
class gnss_ndt_pose cl_output;

How to use this package

This package is disabled by default in Autoware, you need to manually enable it.

To enable this package, you need to change the use_autoware_pose_covariance_modifier parameter to true within the pose_twist_estimator.launch.xml.

Without this condition (default)

  • The output of the ndt_scan_matcher is directly sent to ekf_localizer.
    • It has a preset covariance value.
    • topic name: /localization/pose_estimator/pose_with_covariance
  • The GNSS pose does not enter the ekf_localizer.
  • This node does not launch.

With this condition

  • The output of the ndt_scan_matcher is renamed
    • from: /localization/pose_estimator/pose_with_covariance.
    • to: /localization/pose_estimator/ndt_scan_matcher/pose_with_covariance.
  • The ndt_scan_matcher output enters the autoware_pose_covariance_modifier.
  • The output of this package goes to ekf_localizer with:
    • topic name: /localization/pose_estimator/pose_with_covariance.

Node

Subscribed topics

Name Type Description
input_gnss_pose_with_cov_topic geometry_msgs::msg::PoseWithCovarianceStamped Input GNSS pose topic.
input_ndt_pose_with_cov_topic geometry_msgs::msg::PoseWithCovarianceStamped Input NDT pose topic.

Published topics

Name Type Description
output_pose_with_covariance_topic geometry_msgs::msg::PoseWithCovarianceStamped Output pose topic. This topic is used by the ekf_localizer package.
selected_pose_type std_msgs::msg::String Declares which pose sources are used in the output of this package
output/ndt_position_stddev std_msgs::msg::Float64 Output pose ndt average standard deviation in position xy. It is published only when the enable_debug_topics is true.
output/gnss_position_stddev std_msgs::msg::Float64 Output pose gnss average standard deviation in position xy. It is published only when the enable_debug_topics is true.

Parameters

The parameters are set in config/pose_covariance_modifier.param.yaml .

{{ json_to_markdown( “localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json”) }}

FAQ

How are varying frequency rates handled?

The GNSS and NDT pose topics may have different frequencies. The GNSS pose topic may have a higher frequency than the NDT.

Let’s assume that the inputs have the following frequencies:

Source Frequency
GNSS 200 Hz
NDT 10 Hz

This package publishes the output poses as they come in, depending on the mode.

End result:

Mode Output Freq
GNSS Only 200 Hz
GNSS + NDT 210 Hz
NDT Only 10 Hz

How and when are the NDT covariance values overwritten?

Mode Outputs, Covariance
GNSS Only GNSS, Unmodified
GNSS + NDT GNSS: Unmodified, NDT: Interpolated
NDT Only NDT, Unmodified

NDT covariance values overwritten only for the GNSS + NDT mode.

This enables a smooth transition between GNSS Only and NDT Only modes.

In this mode, both NDT and GNSS poses are published from this node.

NDT covariance calculation

As the gnss_std_dev increases within its bounds, ndt_std_dev should proportionally decrease within its own bounds.

To achieve this, we first linearly interpolate:

  • Base value: gnss_std_dev
  • Base range: [threshold_gnss_stddev_xy_bound_lower, threshold_gnss_stddev_xy_bound_upper]
  • Target range: [ndt_std_dev_bound_lower, ndt_std_dev_bound_upper]
  • Target value: ndt_std_dev_target

  • Final value = ndt_std_dev_bound_lower + ndt_std_dev_bound_upper - ndt_std_dev_target (to get the inverse)

range to range lerp animation

CHANGELOG

Changelog for package autoware_pose_covariance_modifier

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)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_ekf_localizer)!: porting from universe to core 2nd (#10067) Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
  • Contributors: Fumiya Watanabe, Motz

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)

  • revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core (#9978)" (#10004) This reverts commit 037c315fbee69bb5923ec10bb8e8e70f890725ea.
  • feat(autoware_ekf_localizer)!: porting from universe to core (#9978)
    • feat: delete ekf_localizer files
    • doc: Modify ekf_localizer directory links

    * ci: remove ekf_localizer from the codecov target list ---------

  • Contributors: Motz, Ryohsuke Mitsudome

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
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • 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

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • docs(autoware_pose_covariance_modifier): fix gt symbol (#9082)
  • docs(autoware_pose_cov_modifier): fix line breaks and dead links (#8991)
    • fix(autoware_pose_cov_modifier): fix line breaks

    * fix dead links ---------

  • refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • fix(autoware_pose_covariance_modifier): fix funcArgNamesDifferent (#8007) fix:funcArgNamesDifferent
  • fix(pose_covariance_modifier): fix json schema (#7323) fix json schema Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>
  • fix(autoware_pose_covariance_modifier): change log output from screen to both (#7198) change log output from screen to both Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>
  • feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses (#6570) Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>
  • Contributors: Esteve Fernandez, Masaki Baba, Yamato Ando, Yutaka Kondo, kobayu858, melike tanrikulu

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

  • launch/pose_covariance_modifier.launch.xml
      • autoware_pose_covariance_modifier/input_gnss_pose_with_cov_topic [default: /sensing/gnss/pose_with_covariance]
      • autoware_pose_covariance_modifier/input_ndt_pose_with_cov_topic [default: /localization/pose_estimator/ndt_scan_matcher/pose_with_covariance]
      • autoware_pose_covariance_modifier/output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
      • param_file [default: $(find-pkg-share autoware_pose_covariance_modifier)/config/pose_covariance_modifier.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_pose_covariance_modifier at Robotics Stack Exchange

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