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.