yabloc_pose_initializer

This package contains a node related to initial pose estimation.

• camera_pose_initializer

This package requires the pre-trained semantic segmentation model for runtime. This model is usually downloaded by ansible during env preparation phase of the installation. It is also possible to download it manually. Even if the model is not downloaded, initialization will still complete, but the accuracy may be compromised.

To download and extract the model manually:

$ mkdir -p ~/autoware_data/yabloc_pose_initializer/
$ wget -P ~/autoware_data/yabloc_pose_initializer/ \
       https://s3.ap-northeast-2.wasabisys.com/pinto-model-zoo/136_road-segmentation-adas-0001/resources.tar.gz
$ tar xzf ~/autoware_data/yabloc_pose_initializer/resources.tar.gz -C ~/autoware_data/yabloc_pose_initializer/

Note

This package makes use of external code. The trained files are provided by apollo. The trained files are automatically downloaded during env preparation.

Original model URL

https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/intel/road-segmentation-adas-0001

Open Model Zoo is licensed under Apache License Version 2.0.

Converted model URL

https://github.com/PINTO0309/PINTO_model_zoo/tree/main/136_road-segmentation-adas-0001

model conversion scripts are released under the MIT license

Special thanks

• openvinotoolkit/open_model_zoo
• PINTO0309

camera_pose_initializer

Purpose

• This node estimates the initial position using the camera at the request of ADAPI.

Input

Output

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_pose_initializer/schema/camera_pose_initializer.schema.json”) }}

Services

Changelog for package yabloc_pose_initializer

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

• refactor(perception, localization): replace getClosestLanelet function (#12033)

  • refactor(perception, localization): replace getClosestLanelet function

  * replace toGeomMsg ---------

• Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

• feat(autoware_lanelet2_utils): replace from/toBinMsg (Map and Localization Component) (#11787)

  • localization component toBinMsg replacement
  • map component fromBinMsg replacement
  • localization component fromBinMsg replacement

  * remove unused dep from localization/autoware_pose_estimator_arbiter ---------

• Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(autoware_lanelet2_extension): remove redundant autoware_lanelet2_extension depend from packages (#11492)

• feat(autoware_lanelet2_utils): porting functions from lanelet2_extension to autoware_lanelet2_utils package (replacing usage) in localization component (#11388) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• 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, Sarun MUKDAPITAK

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
• feat(localization): replace tier4_localization_msgs used by ndt_align_srv with autoware_internal_localization_msgs (#10567) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: TaikiYamada4, 心刚

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)

0.41.2 (2025-02-19)

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

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