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tier4_localization_launch package from autoware_launch repo

autoware_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch common_awsim_labs_sensor_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch common_sensor_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_common_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch 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 awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version	0.50.0
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	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_localization_launch package

Maintainers

Yamato Ando
NGUYEN Viet Anh
Taiki Yamada
Masahiro Sakamoto

Authors

Yamato Ando

tier4_universe_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

0.50.0 (2026-02-13)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: import tier4 launchers from universe (#1740)
Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
chore: update maintainer (#11373)

* chore: update maintainer remove Ryu Yamamoto

* chore: update maintainer remove Kento Yabuuchi

* chore: update maintainer remove Shintaro Sakoda ---------
Contributors: Motz, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

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)

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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