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tier4_localization_launch package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_localization_launch package

Additional Links

No additional links.

Maintainers

Yamato Ando
Kento Yabuuchi
Ryu Yamamoto
NGUYEN Viet Anh
Taiki Yamada
Shintaro Sakoda
Masahiro Sakamoto

Authors

Yamato Ando

launch/tier4_localization_launch/README.md

tier4_localization_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

Include localization.launch.xml in other launch files as follows.

You can select which methods in localization to launch as pose_estimator or twist_estimator by specifying pose_source and twist_source.

In addition, you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of localization.launch.xml.

  <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
    <!-- Localization methods -->
    <arg name="pose_source" value="..."/>
    <arg name="twist_source" value="..."/>

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>

CHANGELOG

Changelog for package tier4_localization_launch

0.47.0 (2025-08-11)

feat(autoware_pose_instability_detector): make pose_instability_detector configurable in autoware_launch (#10961) make pose_instability_detector configurable in autoware_launch
Contributors: Taiki Yamada

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(tier4_localization_launch): add missing exec_depend (#10128)
- fix(tier4_localization_launch): add missing exec_depend
- add exec_depend for localization
* Revert "add exec_depend for localization" This reverts commit a43b7a7f81d8f4a9916dff37e6077c53c126acfa. ---------
Contributors: Fumiya Watanabe, Takagi, Isamu

0.41.2 (2025-02-19)

chore: bump version to 0.41.1 (#10088)
Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
feat: apply [autoware_]{.title-ref} prefix for [default_ad_api_helpers]{.title-ref} (#9965) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>>
Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
fix: fix ticket links in CHANGELOG.rst (#9588)
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
fix: fix ticket links in CHANGELOG.rst (#9588)
0.39.0
update changelog
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
chore(package.xml): bump version to 0.38.0 (#9266)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_ar_tag_based_localizer
	autoware_automatic_pose_initializer
	autoware_ekf_localizer
	autoware_geo_pose_projector
	autoware_gyro_odometer
	autoware_lidar_marker_localizer
	autoware_localization_error_monitor
	autoware_ndt_scan_matcher
	autoware_pointcloud_preprocessor
	autoware_pose_covariance_modifier
	autoware_pose_estimator_arbiter
	autoware_pose_initializer
	autoware_pose_instability_detector
	autoware_stop_filter
	autoware_twist2accel
	eagleye_geo_pose_fusion
	eagleye_gnss_converter
	eagleye_rt
	topic_tools
	yabloc_common
	yabloc_image_processing
	yabloc_monitor
	yabloc_particle_filter
	yabloc_pose_initializer
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch
tier4_simulator_launch

Launch files

launch/localization.launch.xml
- - pose_source
  - twist_source
  - initial_pose
  - system_run_mode
  - ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path
  - ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path
  - ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path
  - ndt_scan_matcher/ndt_scan_matcher_param_path
  - localization_error_monitor_param_path
  - ekf_localizer_param_path
  - stop_filter_param_path
  - pose_instability_detector_param_path
  - pose_initializer_param_path
  - eagleye_param_path
  - ar_tag_based_localizer_param_path
  - lidar_marker_localizer/lidar_marker_localizer_param_path
  - lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path
  - lidar_marker_localizer/pointcloud_preprocessor/ring_filter_param_path
  - input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - localization_pointcloud_container_name [default: /pointcloud_container]
launch/localization_error_monitor/localization_error_monitor.launch.xml
launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
- - input_image
launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml
- - 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 tier4_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
- - input_pointcloud
  - lidar_container_name
  - use_intra_process [default: true]
launch/pose_twist_estimator/ndt_scan_matcher.launch.xml
- - output_pose_with_covariance_topic [default: /localization/pose_estimator/pose_with_covariance]
launch/pose_twist_estimator/pose_twist_estimator.launch.xml
- - use_autoware_pose_covariance_modifier [default: false]
  - gnss_enabled [default: true]
launch/pose_twist_estimator/yabloc.launch.xml
- - src_image [default: /sensing/camera/traffic_light/image_raw]
  - src_info [default: /sensing/camera/traffic_light/camera_info]
  - camera_pose_initializer_param_path [default: $(find-pkg-share yabloc_pose_initializer)/config/camera_pose_initializer.param.yaml]
  - camera_particle_corrector_param_path [default: $(find-pkg-share yabloc_particle_filter)/config/camera_particle_corrector.param.yaml]
  - gnss_particle_corrector_param_path [default: $(find-pkg-share yabloc_particle_filter)/config/gnss_particle_corrector.param.yaml]
  - predictor_param_path [default: $(find-pkg-share yabloc_particle_filter)/config/predictor.param.yaml]
  - graph_segment_param_path [default: $(find-pkg-share yabloc_image_processing)/config/graph_segment.param.yaml]
  - segment_filter_param_path [default: $(find-pkg-share yabloc_image_processing)/config/segment_filter.param.yaml]
  - undistort_param_path [default: $(find-pkg-share yabloc_image_processing)/config/undistort.param.yaml]
  - ground_server_param_path [default: $(find-pkg-share yabloc_common)/config/ground_server.param.yaml]
  - ll2_decomposer_param_path [default: $(find-pkg-share yabloc_common)/config/ll2_decomposer.param.yaml]
launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
launch/util/util.launch.xml
- - 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.

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