pose_initializer

Purpose

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.

Input / Output

Input topics

Name	Type	Description
/initialpose	geometry_msgs::msg::PoseWithCovarianceStamped	initial pose from rviz
/sensing/gnss/pose_with_covariance	geometry_msgs::msg::PoseWithCovarianceStamped	pose from gnss
/map/pointcloud_map	sensor_msgs::msg::PointCloud2	pointcloud map

Output topics

Name	Type	Description
/initialpose3d	geometry_msgs::msg::PoseWithCovarianceStamped	calculated initial ego pose