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Package Summary
| Tags | No category tags. |
| Version | 0.46.0 |
| 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 | 2025-07-01 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_ar_tag_based_localizer package
Additional Links
No additional links.
Maintainers
- Shintaro Sakoda
- Masahiro Sakamoto
- Yamato Ando
- Kento Yabuuchi
- NGUYEN Viet Anh
- Taiki Yamada
- Ryu Yamamoto
Authors
No additional authors.
AR Tag Based Localizer
ArTagBasedLocalizer is a vision-based localization node.
This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.
Inputs / Outputs
ar_tag_based_localizer node
Input
| Name | Type | Description |
|---|---|---|
~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Data of lanelet2 |
~/input/image |
sensor_msgs::msg::Image |
Camera Image |
~/input/camera_info |
sensor_msgs::msg::CameraInfo |
Camera Info |
~/input/ekf_pose |
geometry_msgs::msg::PoseWithCovarianceStamped |
EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published. |
Output
| Name | Type | Description |
|---|---|---|
~/output/pose_with_covariance |
geometry_msgs::msg::PoseWithCovarianceStamped |
Estimated Pose |
~/debug/result |
sensor_msgs::msg::Image |
[debug topic] Image in which marker detection results are superimposed on the input image |
~/debug/marker |
visualization_msgs::msg::MarkerArray |
[debug topic] Loaded landmarks to visualize in Rviz as thin boards |
/tf |
geometry_msgs::msg::TransformStamped |
[debug topic] TF from camera to detected tag |
/diagnostics |
diagnostic_msgs::msg::DiagnosticArray |
Diagnostics outputs |
Parameters
{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}
How to launch
When launching Autoware, set artag for pose_source.
ros2 launch autoware_launch ... \
pose_source:=artag \
...
Rosbag
Sample rosbag and map (AWSIM data)
This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.
It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.
Sample rosbag and map (Real world data)
Please remap the topic names and play it.
ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
--remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
/sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info
This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.
The image below shows the trajectory when the sample is executed and plotted.
The pull request video below should also be helpful.
https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248
Principle
CHANGELOG
Changelog for package autoware_ar_tag_based_localizer
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
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
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)
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- 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)
- fix(cpplint): include what you use - localization (#9567)
- 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)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- 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)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util
- fix(doc): landmark localizer (#8301) fix landmark localizer
- refactor(localization): remove unnecessary dependency in localization packages (#8202) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>>
- perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (#8259)
- feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
- chore: update sample rosbags for localization modules (#7716) Update sample rosbags for new message types
- fix: replace deprecated header in Jazzy
(#7603)
- Use cv_bridge.hpp if available
- Fix image_geometry deprecated header
* Add comment for __has_include ---------Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(ar_tag_based_localizer): add prefix "autoware_" to
ar_tag_based_localizer
(#7483)
- Added prefix "autoware_" to ar_tag_based_localizer
- style(pre-commit): autofix
- Fixed localization_launch
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, SakodaShintaro, TaikiYamada4, Takayuki Murooka, Yutaka Kondo, Yuxuan Liu, ぐるぐる
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| tier4_localization_launch |
Launch files
- launch/ar_tag_based_localizer.launch.xml
-
- param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
- node_name [default: ar_tag_based_localizer]
- input_lanelet2_map [default: ~/input/lanelet2_map]
- input_image [default: ~/input/image]
- input_camera_info [default: ~/input/camera_info]
- input_ekf_pose [default: ~/input/ekf_pose]
- output_pose_with_covariance [default: ~/output/pose_with_covariance]
- debug_image [default: ~/debug/image]
- debug_mapped_tag [default: ~/debug/mapped_tag]
- debug_detected_tag [default: ~/debug/detected_tag]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange
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