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localization_error_monitor package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

API Docs
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Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/qin-yuan/autoware_car.git
VCS Type	git
VCS Version	master
Last Updated	2024-12-19
Dev Status	UNKNOWN
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

ros node for monitoring localization error

Additional Links

No additional links.

Maintainers

Yamato Ando

Authors

Taichi Higashide

autoware_localization/localization_error_monitor/README.md

localization_error_monitor

Purpose

localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results. The package monitors the following two values:

size of long radius of confidence ellipse
size of confidence ellipse along lateral direction (body-frame)

Inputs / Outputs

Input

Name	Type	Description
`input/pose_with_cov`	`geometry_msgs::msg::PoseWithCovarianceStamped`	localization result

Output

Name	Type	Description
`debug/ellipse_marker`	`visualization_msgs::msg::Marker`	ellipse marker
`diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	diagnostics outputs

Parameters

Name	Type	Description
`scale`	double	scale factor for monitored values (default: 3.0)
`error_ellipse_size`	double	error threshold for long radius of confidence ellipse [m] (default: 1.0)
`warn_ellipse_size`	double	warning threshold for long radius of confidence ellipse [m] (default: 0.8)
`error_ellipse_size_lateral_direction`	double	error threshold for size of confidence ellipse along lateral direction [m] (default: 0.3)
`warn_ellipse_size_lateral_direction`	double	warning threshold for size of confidence ellipse along lateral direction [m] (default: 0.2)

CHANGELOG

No CHANGELOG found.

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

Deps	Name
	autoware_cmake
	ament_cmake_auto
	ament_lint_auto
	autoware_lint_common
	diagnostic_msgs
	diagnostic_updater
	nav_msgs
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

launch/localization_error_monitor.launch.xml
- - input/odom [default: /localization/kinematic_state]
  - param_file [default: $(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml]
launch/autoware_localization_error_monitor.launch.xml
- - input/odom [default: /localization/kinematic_state]
  - param_file [default: $(find-pkg-share autoware_localization_error_monitor)/config/autoware_localization_error_monitor.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `localization_error_monitor` at Robotics Stack Exchange

API Docs Browse Code

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