autoware_pose_initializer

Purpose

The autoware_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

{{ json_to_markdown(“localization/autoware_pose_initializer/schema/pose_initializer.schema.json”) }}

Services

Clients

Subscriptions

Publications

Diagnostics

pose_initializer_status

If the score of initial pose estimation result is lower than score threshold, ERROR message is output to the /diagnostics topic.

Connection with Default AD API

This autoware_pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of autoware_default_adapi.

Initialize pose via CLI

Using the GNSS estimated position

ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization

The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.

Using the input position

ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
  - header:
      frame_id: map
    pose:
      pose:
        position:
          x: 89571.1640625
          y: 42301.1875
          z: -3.1565165519714355
        orientation:
          x: 0.0
          y: 0.0
          z: 0.28072773940524687
          w: 0.9597874433062874
      covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 0
"

The input position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.

Direct initial position set

```bash ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization “ pose_with_covariance:

• header:

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