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autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

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Plugins

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Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

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Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

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autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_localization_launch at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

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autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

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autoware_localization_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_localization_launch package

Maintainers

  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Masahiro Sakamoto

Authors

  • Yamato Ando
autoware_universe_launch/autoware_localization_launch/README.md

autoware_localization_launch

Shared localization launch library. This package ships one self-contained launcher per localization unit; the system component launcher in the product layer (autoware_launch/launch/components/component_localization.launch.xml) is the composition root that selects which units launch and wires the topics between them, the same way Localization.module.yaml composes its instances on the design side.

launch/
├── pose_twist_estimator/                 # one launcher per estimator
│   ├── ndt_scan_matcher.launch.xml
│   ├── gyro_odometer.launch.xml
│   ├── yabloc.launch.xml
│   ├── eagleye/eagleye_rt.launch.xml
│   ├── ar_tag_based_localizer.launch.xml
│   └── lidar_marker_localizer.launch.xml
├── pose_twist_fusion_filter/             # ekf localizer, stop filter, twist2accel, pose instability detector
├── localization_error_monitor/
└── util/                                 # pose initializer and the ndt input pointcloud downsampling
design/module/                            # Autoware System Designer modules
├── Localization.module.yaml              # composition of the instances a system runs
├── pose_twist_estimator/                 # ndt pose estimator and gyro odometer twist estimator
├── pose_twist_fusion_filter/
└── util/                                 # LocalizationUtil: same node set as launch/util

Launch files

There is no single entry launcher: each unit is included on its own, so a system launches only the estimators it uses and never loads the parameters of the others. Each unit declares its own *_param_path arguments and resolves them from the config package; the caller selects units, pushes the namespaces (pose_estimator, twist_estimator, util, pose_twist_fusion_filter) and wires the boundary topics (the arbiter relay inputs, eagleye standing in for the gnss pose).

  • pose_twist_estimator/*.launch.xml — one launcher per pose/twist estimator. Running several pose estimators additionally takes the pose estimator arbiter, which relays the estimator inputs and arbitrates the outputs; the composition root launches it from autoware_pose_estimator_arbiter.
  • util/util.launch.xml — pose initializer, automatic pose initializer, and the downsampling chain feeding NDT, loaded into the shared pointcloud container.
  • pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml — EKF localizer, stop filter, twist2accel, pose instability detector.
  • localization_error_monitor/localization_error_monitor.launch.xml

Config

Each unit resolves its parameter files from a config/ tree addressed through the localization_config_pkg argument, which defaults to autoware_localization_config. A product can relocate the whole tree by setting localization_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments declared at the top of each unit launcher:

<include file="$(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml">
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="..."/>
</include>

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package tier4_localization_launch

0.53.0 (2026-10-13)

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

  • fix([localization_launch]{.title-ref}): a bug, by renaming to [autoware_pose_initialization_requester]{.title-ref} (#1998)

    • bug: rename to [autoware_pose_initialization_requester]{.title-ref}
    • style(pre-commit): autofix

    * fix: duplication made by [pre-commit]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(tier4_localization_launch): apply rename of pose_initialization_requester (#1937)

    • apply package renaming
    • style(pre-commit): autofix
    • fix depend
    • update comment

    * fix design file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled (#1990)

    * feat(autoware_launch): run crop_box_filter standalone when agnocast is enabled autoware_universe#13384 moves CropBoxFilterComponent to agnocast_wrapper::Node on an agnocast-only executor, which the component containers do not set up. Start each of the eight crop_box_filter nodes as a standalone process when ENABLE_AGNOCAST=1 and keep loading them into their container otherwise. The node names, namespaces, remaps and parameters are the same in both branches.

    * refactor(autoware_launch): launch crop_box_filter through the autoware_node action ---------

  • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action (#1993)

    • refactor(autoware_localization_launch): switch random_downsample_filter through the agnocast switchable node launch file
    • refactor(autoware_localization_launch): launch random_downsample_filter through the autoware_node action
    • refactor(autoware_localization_launch): rely on the default mode of the autoware_node action

    * refactor(autoware_localization_launch): drop the separate launch package dependency ---------

  • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled (#1992)

    • feat(autoware_launch): run voxel_grid_downsample_filter standalone when agnocast is enabled
    • style(pre-commit): autofix

    * refactor(autoware_launch): launch voxel_grid_downsample_filter through the autoware_node action ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(autoware_localization_launch): move the agnocast condition onto load_composable_node (#1994)

  • feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled (#1988)

    * feat(autoware_localization_launch): run random_downsample_filter standalone when agnocast is enabled autoware_universe#13386 moves RandomDownsampleFilterComponent to agnocast_wrapper::Node, which is not designed to run inside a component container. Start the node as a standalone process when ENABLE_AGNOCAST=1 and keep loading it into localization_pointcloud_container_name otherwise. The node name, namespace, remaps and parameters are the same in both branches.

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

  • refactor(localization)!: migrate tier4_localization_launch to

File truncated at 100 lines see the full file

Launch files

  • launch/localization_error_monitor/localization_error_monitor.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • localization_error_monitor_param_path [default: $(var localization_config_dir)/localization_error_monitor.param.yaml]
  • launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ar_tag_based_localizer_param_path [default: $(var localization_config_dir)/ar_tag_based_localizer.param.yaml]
      • input_image
  • launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • eagleye_param_path [default: $(var localization_config_dir)/eagleye_config.param.yaml]
      • output_pose_with_cov_name [default: /localization/pose_estimator/pose_with_covariance]
      • output_twist_with_cov_name [default: /localization/twist_estimator/twist_with_covariance]
      • directory_with_related_launches [default: $(find-pkg-share autoware_localization_launch)/launch/pose_twist_estimator/eagleye]
      • use_eagleye_pose [default: true]
      • use_eagleye_twist [default: true]
      • enable_additional_rolling [default: false]
      • use_multi_antenna_mode [default: false]
      • use_rtk_dead_reckoning [default: false]
      • use_rtk_heading [default: false]
      • geo_pose_topic_name [default: eagleye/geo_pose_with_covariance]
  • launch/pose_twist_estimator/eagleye/gnss_converter.launch.xml
      • config_path
  • launch/pose_twist_estimator/gyro_odometer.launch.xml
  • launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • group_namespace [default: lidar_marker_localizer]
      • input_pointcloud
      • lidar_container_name [default: /pointcloud_preprocessor/pointcloud_container]
      • use_intra_process [default: true]
      • crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ring_filter_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml]
      • lidar_marker_localizer_param_path [default: $(var localization_config_dir)/lidar_marker_localizer/lidar_marker_localizer.param.yaml]
  • launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ndt_scan_matcher/ndt_scan_matcher_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/ndt_scan_matcher.param.yaml]
      • output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
  • launch/pose_twist_estimator/yabloc.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • src_image [default: /sensing/camera/traffic_light/image_raw]
      • src_info [default: /sensing/camera/traffic_light/camera_info]
      • camera_pose_initializer_param_path [default: $(var localization_config_dir)/yabloc/camera_pose_initializer.param.yaml]
      • camera_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/camera_particle_corrector.param.yaml]
      • gnss_particle_corrector_param_path [default: $(var localization_config_dir)/yabloc/gnss_particle_corrector.param.yaml]
      • predictor_param_path [default: $(var localization_config_dir)/yabloc/predictor.param.yaml]
      • graph_segment_param_path [default: $(var localization_config_dir)/yabloc/graph_segment.param.yaml]
      • segment_filter_param_path [default: $(var localization_config_dir)/yabloc/segment_filter.param.yaml]
      • undistort_param_path [default: $(var localization_config_dir)/yabloc/undistort.param.yaml]
      • ground_server_param_path [default: $(var localization_config_dir)/yabloc/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(var localization_config_dir)/yabloc/ll2_decomposer.param.yaml]
  • launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • ekf_localizer_param_path [default: $(var localization_config_dir)/ekf_localizer.param.yaml]
      • stop_filter_param_path [default: $(var localization_config_dir)/stop_filter.param.yaml]
      • twist2accel_param_path [default: $(var localization_config_dir)/twist2accel.param.yaml]
      • pose_instability_detector_param_path [default: $(var localization_config_dir)/pose_instability_detector.param.yaml]
  • launch/util/util.launch.xml
      • localization_config_pkg [default: autoware_localization_config]
      • pose_initializer_param_path [default: $(var localization_config_dir)/pose_initializer.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml]
      • ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path [default: $(var localization_config_dir)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml]
      • use_ndt_pose [default: true]
      • use_yabloc_pose [default: false]
      • gnss_enabled [default: true]
      • stop_check_enabled [default: true]
      • user_defined_initial_pose/enable [default: false]
      • user_defined_initial_pose/pose [default: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
      • sub_gnss_pose_cov [default: /sensing/gnss/pose_with_covariance]
      • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: downsample/pointcloud]
      • localization_pointcloud_container_name [default: /pointcloud_container]
      • use_intra_process [default: true]

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