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:

File truncated at 100 lines see the full file

Changelog for package autoware_pose_initializer

1.4.0 (2025-08-11)

• chore: bump version to 1.3.0 (#554)
• Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• fix(autoware_pose_initializer, autoware_adapi): fix documentation link (#547)

• feat!: replace autoware_internal_localization_msgs with autoware_localization_msgs for InitializeLocalization service (#542)

  • feat!: replace autoware_internal_localization_msgs with autoware_localization_msgs for InitializeLocalization service

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

• fix(autoware_pose_initializer): fix README.md links (#522) Update README.md

• feat(localization): add autoware_pose_initializer and autoware_map_height_fitter to autoware core (#493)

• Contributors: Ryohsuke Mitsudome, Yutaka Kondo, Yuxuan Liu, github-actions, 心刚

• fix: to be consistent version in all package.xml(s)

• fix(autoware_pose_initializer, autoware_adapi): fix documentation link (#547)

• feat!: replace autoware_internal_localization_msgs with autoware_localization_msgs for InitializeLocalization service (#542)

  • feat!: replace autoware_internal_localization_msgs with autoware_localization_msgs for InitializeLocalization service

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

• fix(autoware_pose_initializer): fix README.md links (#522) Update README.md

• feat(localization): add autoware_pose_initializer and autoware_map_height_fitter to autoware core (#493)

• Contributors: Ryohsuke Mitsudome, Yutaka Kondo, Yuxuan Liu, github-actions, 心刚

1.0.0 (2025-03-31)

0.3.0 (2025-03-22)

0.2.0 (2025-02-07)

0.0.0 (2024-12-02)