yabloc_pose_initializer

This package contains a node related to initial pose estimation.

• camera_pose_initializer

This package requires the pre-trained semantic segmentation model for runtime. This model is usually downloaded by ansible during env preparation phase of the installation. It is also possible to download it manually. Even if the model is not downloaded, initialization will still complete, but the accuracy may be compromised.

To download and extract the model manually:

$ mkdir -p ~/autoware_data/yabloc_pose_initializer/
$ wget -P ~/autoware_data/yabloc_pose_initializer/ \
       https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz
$ tar xzf ~/autoware_data/yabloc_pose_initializer/resources.tar.gz -C ~/autoware_data/yabloc_pose_initializer/

Note

This package makes use of external code. The trained files are provided by apollo. The trained files are automatically downloaded during env preparation.

Original model URL

https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/intel/road-segmentation-adas-0001

Open Model Zoo is licensed under Apache License Version 2.0.

Converted model URL

https://github.com/PINTO0309/PINTO_model_zoo/tree/main/136_road-segmentation-adas-0001

model conversion scripts are released under the MIT license

Special thanks

• openvinotoolkit/open_model_zoo
• PINTO0309

camera_pose_initializer

Purpose

• This node estimates the initial position using the camera at the request of ADAPI.

Input

Output

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_pose_initializer/schema/camera_pose_initializer.schema.json”) }}

Services

Changelog for package yabloc_pose_initializer

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)

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)

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(yabloc_pose_initializer): include opencv as system (#9375)
• 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, Ryuta Kambe, Yutaka Kondo

0.39.0 (2024-11-25)

• 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, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(pose_initializer, ndt_scan_matcher): check initial pose result and publish diag (#8275)
  • feat(localization): check initial pose result and publish diag
  • fix: refactor
  • feat: update README
  • fix: rename reliability to reliable

  * feat: always return true in yabloc module ---------

• refactor(yabloc_pose_initializer): apply static analysis (#7719)
  • refactor based on linter

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• fix: replace deprecated header in Jazzy (#7603)
  • Use cv_bridge.hpp if available
  • Fix image_geometry deprecated header

  * Add comment for __has_include ---------Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>

• feat(yabloc_pose_initializer): componentize yabloc_pose_initializer node (#7506)
  • change the node to component
  • remove useless node.cpp

  * add rclcpp_components as dependency ---------

• fix(yabloc): suppress no viable conversion error (#7299)
  • use tier4_autoware_utils instead of yabloc::Color
  • use static_cast to convert Color to RGBA
  • use tier4_autoware_utils instead of yabloc::Color
  • use static_cast to convert Color to RGBA

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (#7243) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
• perf(yabloc): fix performance warning of iterateByValue (#6929)
• Contributors: Kento Yabuuchi, Masaki Baba, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, Yutaka Kondo, ぐるぐる

0.26.0 (2024-04-03)

• build(yabloc_pose_initializer): fix dependencies (#6190)
• chore(yabloc): rework parameters (#6170)
  • introduce json schema for ground_server
  • introduce json schema for ll2_decomposer
  • style(pre-commit): autofix
  • fix json in yabloc_common
  • introduce json schema for graph_segment
  • introduce json schema for segment_filter
  • fix yabloc_common schema.json
  • introduce json schema for undistort
  • style(pre-commit): autofix

  * Revert "introduce json schema for ground_server" This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. * Revert "introduce json schema for graph_segment" This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7.

  • style(pre-commit): autofix
  • introduce json schema for yabloc_monitor
  • introduce json schema for yabloc_particle_filter
  • introduce json schema for yabloc_pose_initializer
  • apply pre-commit
  • fix revert conflict

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore: add localization & mapping maintainers (#6085)
  • Added lm maintainers
  • Add more

  * Fixed maintainer ---------

• refactor(localization_packages): remove unused <depend> in packages.xml files (#5171) Co-authored-by: yamato-ando <Yamato ANDO>
• build(yabloc_pose_initializer): remove downloading logic from CMake (#4905)
  • remove downloading logic from Cmake
  • build(yabloc_pose_initializer): remove downloading logic from CMake

  * build(yabloc_pose_initializer): update default model path in launch file ---------

• refactor(yabloc_pose_initializer): use cpp DNN module instead of python (#5025)
  • cannot include yabloc_pose_initializer.srv
  • launch semantic_segmentation_cpp
  • implement DNN inference as C++
  • use C++ inference
  • remove python files
  • add segmentation.cpp
  • add license
  • remove segmentation service
  • style(pre-commit): autofix
  • reflect pre-commit's review
  • add include guard
  • update README

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore: add maintainer in localization and map packages (#4501)
• refactor(yabloc): replace deprecated rosidl API (#4423)
  • refactor(yabloc_particle_filter): remove deprecated cmake ros2idl API

  * refactor(yabloc_pose_initializer): remove deprecated cmake ros2idl API ---------

• feat(yabloc): change namespace (#4389)
  • fix(yabloc): update namespace

  * fix

• feat(yabloc_pose_initializer): make yabloc independent of dnn model by default (#4296)
  • care no dnn model exists
  • modify segmentation_srv to inform inference failure
  • add documentation
  • fix typo
  • ignore DDOWNLOAD
  • make const variable be capital

  * use std::optional rather than reference arg ---------

• fix(yabloc): fix typo (#4281)
  • fix(yabloc): fix typo
  • fix Kinv and mean_pose
  • style(pre-commit): autofix
  • fix normalized term
  • fix resamping
  • style(pre-commit): autofix
  • fix reweight

  * fix typo ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat: use [pose_source]{.title-ref} and [twist_source]{.title-ref} for selecting localization methods (#4257)
  • feat(tier4_localization_launch): add pose_twist_estimator.launch.py
  • update format
  • update launcher
  • update pose_initailizer config
  • Move pose_initializer to pose_twist_estimator.launch.py, move yabloc namespace
  • use launch.xml instead of launch.py
  • Validated that all the configuration launches correctly (not performance eval yet)
  • Remove arg
  • style(pre-commit): autofix
  • Update eagleye param path
  • minor update
  • fix minor bugs
  • fix minor bugs
  • Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control pose/twist relay nodes
  • Update pose_initializer input topic when using eagleye
  • Add eagleye dependency in tier4_localization_launch
  • Update tier4_localization_launch readme
  • style(pre-commit): autofix
  • Update svg
  • Update svg again (transparent background)
  • style(pre-commit): autofix

  * Update yabloc document ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(yabloc_pose_initializer): disable downloading artifacts by default (#4110) Co-authored-by: Esteve Fernandez <<esteve.fernadnez@tier4.jp>>
• feat(yabloc): add camera and vector map localization (#3946)
  • adopt scane_case to undistort, segment_filter
  • adopt scane_case to ground_server, ll2_decomposer
  • adopt scane_case to twist_converter, twist_estimator
  • adopt scane_case to validation packages
  • adopt scane_case tomodularized_particle_filter
  • adopt scane_case to gnss_particle_corrector
  • adopt scane_case to camera_particle_corrector
  • adopt scane_case to antishadow_corrector
  • adopt scane_case to particle_initializer
  • organize launch files
  • add twist_visualizer to validate odometry performance
  • use SE3::exp() to predict particles & modify linear noise model
  • stop to use LL2 to rectify initialpose2d
  • fix redundant computation in segment_accumulator
  • improve gnss_particle_corrector
  • fix segment_accumulator's bug
  • add doppler_converter
  • add xx2.launch.xml
  • add hsv_extractor
  • pickup other regions which have same color histogram
  • use additional region to filt line-segments
  • improve graph-segmentation
  • remove [truncate_pixel_threshold]{.title-ref}
  • refactor graph_segmentator & segment_filter
  • add mahalanobis_distance_threshold in GNSS particle corrector
  • add extract_line_segments.hpp
  • use pcl::transformCloudWithNormals instead of transform_cloud
  • filt accumulating segments by LL2
  • move herarchical_cost_map to common
  • apply positive feedback for accumulation
  • move transform_linesegments() to common pkg
  • refactor
  • use all projected lines for camera corrector
  • evaluate iffy linesegments
  • complete to unify ll2-assisted lsd clasification
  • add abs_cos2() which is more strict direction constraint
  • fix orientation initialization bug
  • publish doppler direction
  • TMP: add disable/enable switch for camera corrector
  • implement doppler orientation correction but it's disabled by default
  • speed up camera corrector
  • update ros params
  • implement kalman filter for ground tilt estimation
  • continuous height estimation works well?
  • estimate height cotiniously
  • use only linesegments which are at same height
  • add static_gyro_bias parameter
  • fix bug about overlay varidation
  • increse ll2 height marging in cost map generation
  • add static_gyro_bias in twist.launch.xml
  • load pcdless_init_area from ll2
  • add specified initialization area
  • add corrector_manager node to disable/enable camera_corrector
  • call service to disable camer_corrector from manager
  • load corrector disable area
  • overlay even if pose is not estiamted
  • publish camera corrector's status as string
  • add set_booL_panel for camera_corrector enable/disable
  • load bounding box from lanelet2
  • draw bounding box on cost map
  • remove at2,at1 from cost map
  • use cost_map::at() instread pf at2()
  • move cost map library from common to camera corrector
  • use logit for particle weighting but it does not work well
  • prob_to_logit() requires non-intuitive parameters
  • goodbye stupid parameters (max_raw_score & score_offset)
  • publish two scored pointclouds as debug
  • can handle unmapped areas
  • remove obsolete packages
  • update README.md
  • Update README.md
  • add image of how_to_launch
  • add node diagram in readme
  • add rviz_description.png in README
  • subscribe pose_with_cov & disconnect base_link <-> particle_pose
  • remove segment_accumulator & launch ekf_localizer from this project
  • add gnss_ekf_corrector
  • add camera_ekf_corrector package
  • subscribe ekf prediction & synch pose data
  • WIP: ready to implement UKF?
  • estimate weighted averaging as pose_estimator
  • basic algorithm is implemented but it does not work proparly
  • apply after_cov_gain_
  • ekf corrector works a little bit appropriately
  • increase twist covariance for ekf
  • test probability theory
  • updat prob.py
  • implement de-bayesing but it loooks ugly
  • remove obsolete parameters
  • skip measurement publishing if travel distance is so short
  • use constant covariance because i dont understand what is correct
  • add submodule sample_vehicle_launch
  • TMP but it works
  • add ekf_trigger in particle_initializer.hpp
  • publish gnss markers & camera_est pubishes constant cov
  • back to pcd-less only launcher
  • add bayes_util package
  • apply de-bayesing for camera_ekf
  • some launch file update
  • organize launch files. we can choice mode from ekf/pekf/pf
  • organize particle_initializer
  • add swap_mode_adaptor WIP
  • use latest ekf in autoware & sample_vehicle
  • fix bug of swap_adalptor
  • fix FIX & FLOAT converter
  • fix septentrio doppler converter
  • move ekf packages to ekf directory
  • ignore corrector_manager
  • add standalone arg in launch files
  • update semseg_node
  • add camera_pose_initializer pkg
  • subscribe camera_info&tf and prepare semantic projection
  • project semantic image
  • create vector map image from ll2
  • create lane image from vector map
  • search the most match angle by non-zero pixels
  • camera based pose_initializer
  • move ekf packages into unstable
  • move ekf theory debugger
  • add tier4_autoware_msgs as submodule
  • move pose_initializer into initializer dir
  • add semse_msgs pkg
  • separate marker pub function
  • separate projection functions
  • add semseg_srv client
  • move sem-seg directory
  • camera pose initilizer works successfully
  • rectify covariance along the orientation
  • improve initialization parameters
  • take into account covariance of request
  • use lanelet direciton to compute init pose scores
  • semseg download model automatically
  • remove sample_vehicle_launch
  • add autoware_msgs
  • remove obsolete launch files
  • add standalone mode for direct initialization
  • fix fix_to_pose
  • update launch files
  • update rviz config
  • remove lidar_particle_corrector
  • remove Sophus from sunbmodule
  • rename submodule directory
  • update README and some sample images
  • update README.md
  • fix override_camera_frame_id bahaviors
  • fix some bugs (#4)
  • fix: use initialpose from Rviz (#6)
  • use initialpose from Rviz to init

  * add description about how-to-set-initialpose ---------

  • misc: add license (#7)
  • WIP: add license description
  • add license description

  * add description about license in README ---------

  • add quick start demo (#8)
  • refactor(launch) remove & update obsolete launch files (#9)
  • delete obsolete launch files

  * update documents ---------

  • docs(readme): update architecture image (#10)
  • replace architecture image in README

  * update some images ---------

  • refactor(pcdless_launc/scripts): remove unnecessary scripts (#11)
  • remove not useful scripts
  • rename scripts & add descriptions
  • little change
  • remove odaiba.rviz

  * grammer fix ---------

  • fix(pcdless_launch): fix a build bug
  • fix(twist_estimator): use velocity_report by default
  • fix bug
  • debugged, now works
  • update sample rosbag link (#14)
  • feature(graph_segment, gnss_particle_corrector): make some features switchable (#17)
  • make additional-graph-segment-pickup disablable

  * enlarge gnss_mahalanobis_distance_threshold in expressway.launch ---------

  • fix: minor fix for multi camera support (#18)
  • fix: minor fix for multi camera support
  • update
  • update

  * fix typo ---------

  • refactor(retroactive_resampler): more readable (#19)
  • make Hisotry class
  • use boost:adaptors::indexed()
  • add many comment in resampling()
  • does not use ConstSharedPtr
  • rename interface of resampler

  * circular_buffer is unnecessary ---------

  • refactor(mpf::predictor) resampling interval control in out of resampler (#20)
  • resampling interval management should be done out of resample()
  • resampler class throw exeption rather than optional
  • split files for resampling_history

  * split files for experimental/suspention_adaptor ---------

  • refactor(mpf::predictor): just refactoring (#21)
  • remove obsolete functions
  • remove test of predictor
  • remove remapping in pf.launch.xml for suspension_adapator

  * add some comments ---------

  • fix(twist_estimator): remove stop filter for velocity (#23)
  • feat(pcdless_launch): add multi camera launcher (#22)
  • feat(pcdless_launch): add multi camera launcher

  * minor fix ---------

  • refactor(CMakeListx.txt): just refactoring (#24)
  • refactor imgproc/*/CMakeListx.txt
  • refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg
  • rename some files in twist/ & refactor pf/*/cmakelist
  • refactor validation/*/CMakeListx.txt

  * fix some obsolete executor name ---------

  • fix: rename lsd variables and files (#26)
  • misc: reame pcdless to yabloc (#25)
  • rename pcdless to yabloc

  * fix conflict miss ---------

  • visualize path (#28)
  • docs: update readme about particle filter (#30)
  • update mpf/README.md
  • update gnss_corrector/README.md

  * update camera_corrector/README.md ---------

  • feat(segment_filter): publish images with lines and refactor (#29)
  • feat(segment_filter): publish images with lines
  • update validation
  • update imgproc (reverted)
  • large change inclding refactoring
  • major update
  • revert rviz config
  • minor fix in name
  • add validation option
  • update architecture svg
  • rename validation.launch to overlay.launch

  * no throw runtime_error (unintentionaly applying format) ---------Co-authored-by: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>>

  • catch runtime_error when particle id is invalid (#31)
  • return if info is nullopt (#32)
  • pose_buffer is sometimes empty (#33)
  • use_yaw_of_initialpose (#34)
  • feat(interface): remove incompatible interface (#35)
  • not use ublox_msg when run as autoware
  • remove twist/kalman/twist & use twist_estimator/twist_with_covariance

  * update particle_array stamp even if the time stamp seems wrong ---------

  • fix: suppress info/warn_stream (#37)
  • does not stream undistortion time
  • improve warn stream when skip particle weighting
  • surpress frequency of warnings during synchronized particle searching

  * fix camera_pose_initializer ---------

  • /switch must not be nice name (#39)
  • misc(readme): update readme (#41)
  • add youtube link and change thumbnail
  • improve input/output topics
  • quick start demo screen image

  * add abstruct architecture and detail architecture ---------

  • docs(rosdep): fix package.xml to ensure build success (#44)
  • fix package.xml to success build

  * add 'rosdep install' in how-to-build ---------

  • add geographiclib in package.xml (#46)
  • fix path search error in build stage (#45)
  • fix path search error in build stage
  • fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419
  • Feature/remove submodule (#47)
  • remove submodules

  * remove doppler converter ---------

  • feature: change node namespace to /localization/yabloc/** from /localization/** (#48)
  • change node namespace
  • update namespace for autoware-mode

  * update namespace in multi_camera.launch ---------

  • removed unstable packages (#49)
  • feature: add *.param.yaml to manage parameters (#50)
  • make *.param.yaml in imgproc packages
  • make *.param.yaml in initializer packages
  • make *.param.yaml in map packages
  • make *.param.yaml in pf packages
  • make *.param.yaml in twist packages
  • fix expressway parameter
  • fix override_frame_id
  • remove default parameters

  * fix some remaining invalida parameters ---------

  • does not estimate twist (#51)
  • feat(particle_initializer): merge particle_initializer into mpf (#52)
  • feat(particle_initializer): merge particle_initializer to modulalized_particle_filter
  • remove particle_initializer
  • remove debug message
  • remove related parts
  • update readme

  * rename publishing topic ---------Co-authored-by: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>>

  • fix: remove ll2_transition_area (#54)
  • feature(initializer): combine some initializer packages (#56)
  • combine some package about initializer
  • yabloc_pose_initializer works well
  • remove old initializer packages
  • semseg node can launch
  • fix bug

  * revert initializer mode ---------

  • feature(imgproc): reudce imgproc packages (#57)
  • combine some imgproc packages

  * combine overlay monitors into imgproc ---------

  • feature(validation): remove validation packages (#58)
  • remove validation packages

  * remove path visualization ---------

  • feature(pf): combine some packages related to particle filter (#59)
  • create yabloc_particle_filter
  • combine gnss_particle_corrector
  • combine ll2_cost_map
  • combine camera_particle_corrector
  • fix launch files
  • split README & remove obsolete scripts

  * fix config path of multi_camera mode ---------

  • feature: combine map and twist packages (#60)
  • removed some twist nodes & rename remains to yabloc_twist
  • fix launch files for yabloc_twist
  • move map packages to yabloc_common
  • WIP: I think its impossible

  * Revert "WIP: I think its impossible" This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. * remove map packages & fix some launch files ---------

  • removed obsolete packages
  • remove obsolete dot files
  • use tier4_loc_launch instead of yabloc_loc_launch
  • move launch files to each packages
  • remove yabloc_localization_launch
  • remove yabloc_launch
  • modify yabloc/README.md
  • update yabloc_common/README.md
  • update yabloc_imgproc README
  • update yabloc_particle_filter/README
  • update yabloc_pose_initializer/README
  • update README
  • use native from_bin_msg
  • use ifndef instead of pragma once in yabloc_common
  • use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf
  • use ifndef instead of pragma once in yabloc_pose_initializer
  • style(pre-commit): autofix
  • use autoware_cmake & suppress build warning
  • repalce yabloc::Timer with tier4_autoware_utils::StopWatch
  • replace 1.414 with std::sqrt(2)
  • style(pre-commit): autofix
  • removed redundant ament_cmake_auto
  • removed yabloc_common/timer.hpp
  • replaced low_pass_filter with autoware's lowpass_filter_1d
  • style(pre-commit): autofix

  * Squashed commit of the following: commit cb08e290cca5c00315a58a973ec068e559c9e0a9 Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:30:09 2023 +0900 removed ublox_msgs in gnss_particle_corrector commit c158133f184a43914ec5f929645a7869ef8d03be Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:24:19 2023 +0900 removed obsolete yabloc_multi_camera.launch commit 10f578945dc257ece936ede097544bf008e5f48d Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:22:14 2023 +0900 removed ublox_msgs in yabloc_pose_initializer

  • style(pre-commit): autofix
  • removed fix2mgrs & ublox_stamp
  • added ~/ at the top of topic name
  • removed use_sim_time in yabloc launch files
  • add architecture diagram in README
  • rename lsd_node to line_segment_detector
  • style(pre-commit): autofix

  * Update localization/yabloc/README.md fix typo Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

  • removed obsolete debug code in similar_area_searcher
  • removed suspension_adaptor which manages lifecycle of particle predictor
  • style(pre-commit): autofix
  • renamed semseg to SemanticSegmentation
  • style(pre-commit): autofix
  • fixed README.md to solve markdownlint
  • WIP: reflected cpplint's suggestion
  • reflected cpplint's suggestion
  • rename AbstParaticleFilter in config files
  • fixed typo
  • used autoware_lint_common
  • fixed miss git add
  • style(pre-commit): autofix
  • replaced lanelet_util by lanelet2_extension
  • replaced fast_math by tie4_autoware_utils
  • sort package.xml
  • renamed yabloc_imgproc with yabloc_image_processing
  • reflected some review comments
  • resolved some TODO
  • prioritize NDT if both NDT and YabLoc initializer enabled

  * changed localization_mode option names ---------Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: kminoda <<koji.minoda@tier4.jp>> Co-authored-by: Akihiro Komori <<akihiro.komori@unity3d.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

• Contributors: Alexey Panferov, Esteve Fernandez, Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda, ぐるぐる