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pose_initializer 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

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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 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

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
autoware_localization/pose_initializer/README.md

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
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

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.

drawing

CHANGELOG
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Wiki Tutorials

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Launch files

Messages

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Services

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Plugins

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Recent questions tagged pose_initializer at Robotics Stack Exchange

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