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pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit 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 dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

API Docs
Browse Code

Package Summary

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

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
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

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/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
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.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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