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 localizer 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.