autoware_localization_config

Parameter set for autoware_localization_launch. This package ships only data: every file under config/ is a ROS 2 parameter file.

config/
├── ekf_localizer.param.yaml
├── stop_filter.param.yaml
├── twist2accel.param.yaml
├── pose_instability_detector.param.yaml
├── pose_initializer.param.yaml
├── localization_error_monitor.param.yaml
├── ndt_scan_matcher/                     # matcher params and pointcloud_preprocessor/ downsampling params
├── yabloc/
├── lidar_marker_localizer/               # localizer params and pointcloud_preprocessor/ filter params
├── ar_tag_based_localizer.param.yaml
└── eagleye_config.param.yaml

Usage

Every unit launcher of autoware_localization_launch resolves the tree through its localization_config_pkg argument, which defaults to this package. The composition root sets it once and the units inherit it:

<include file="$(find-pkg-share autoware_launch)/launch/components/component_localization.launch.xml">
  <arg name="localization_config_pkg" value="my_localization_config"/>
</include>

A product that sets localization_config_pkg to its own package must ship the same config/ layout, since the launch package addresses individual files by relative path. Products that differ in only a few files instead override the corresponding *_param_path arguments.

Changelog for package autoware_localization_config

0.53.0 (2026-10-13)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(localization)!: migrate tier4_localization_launch to autoware_localization_launch with a separate config package (#1971)

  * refactor(localization)!: migrate tier4_localization_launch to autoware_localization_launch with a separate config package Move the localization launch stack out of the product layer and split its parameter tree into autoware_localization_config. localization.launch.xml resolves every parameter file through localization_config_pkg; the launch graph is unchanged.

  * refactor(localization): move the localization design modules alongside the localization launch package The localization modules move into autoware_localization_launch/design/module, matching the planning and control layout; the parameter set and the wrapper resolve parameter files from autoware_localization_config.

  * refactor(localization): flatten pose/twist source selection into per-estimator junctions pose_source/twist_source string parsing moves into the product component; localization.launch.xml and pose_twist_estimator.launch.xml take one flag per estimator plus the arbiter's pose_sources list, so a fixed system can pin the junctions directly. The launch graph is unchanged.

  * refactor(localization): restore the module-shaped launch composition localization.launch.xml composes the same instances as Localization.module: the util module (pose initializer and the ndt input downsampling) becomes a sibling group with launch/util/util.launch.xml as the LocalizationUtil counterpart, and cross-module wiring (the arbiter relay input, eagleye standing in for the gnss pose) is resolved at the composition root. The launch graph is unchanged.

  * refactor(localization)!: compose localization from self-contained unit launchers The all-mode entry launchers (localization.launch.xml and pose_twist_estimator.launch.xml) are removed: the launch package ships one launcher per unit, each resolving only its own parameters from localization_config_pkg, and component_localization.launch.xml is the composition root that includes only the units the selected sources need — the perception layout. The unreferenced Tier4LocalizationWrapper design is dropped with its launch entry. The launch graph is unchanged.

  • style(pre-commit): autofix

  * fix(localization): connect the automatic pose initializer in LocalizationUtil Wires the pose initializer state and initialize service to automatic_pose_initializer, whose node design now declares the fixed API names as remap targets.

  * chore(localization): drop the exec_depends the composition root owns autoware_pose_estimator_arbiter and autoware_pose_covariance_modifier are included from component_localization.launch.xml, which autoware_launch declares.

  * docs(launch): drop the stale launch diagrams and retarget the config usage example Both package structure diagrams draw the localization.launch.xml composition this series removes, and the autoware_launch one also draws the simulator wrappers as if the root launcher called the sub launchers. The config package documents the composition root as the place localization_config_pkg is set.

  * fix(localization): resolve stop_check_enabled for every system run mode The stop check belongs to a real vehicle, so any run mode other than online disables it; the value is defined unconditionally so a product run mode outside the in-tree set still resolves.

  * chore(localization): carry the changelog over unedited The recorded entries reference upstream pull requests by their original package name, matching the control, planning and perception migrations. ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Taekjin LEE, github-actions