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autoware_lidar_marker_localizer package from autoware_universe repo

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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

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

autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

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

autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

Package symbol

autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

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Package symbol

autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester 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_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

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Package symbol

autoware_lidar_marker_localizer package from autoware_universe repo

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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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 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_bevformer 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_pipeline 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_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner 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_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils 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_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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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_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_lidar_marker_localizer at Robotics Stack Exchange

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

autoware_lidar_marker_localizer package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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 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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_roundabout_module autoware_behavior_velocity_rtc_interface 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 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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_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-28
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_lidar_marker_localizer package

Maintainers

  • Yamato Ando

Authors

  • Eijiro Takeuchi
  • Yamato Ando
  • Shintaro Sakoda
localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md

LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::HADMapBin Data of lanelet2
~/input/pointcloud sensor_msgs::msg::PointCloud2 PointType: PointXYZIRC is recommended in Autoware, but PointXYZIRADRT are also supported in this node.1
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs
For debug
Name Type Description
~/debug/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated pose
~/debug/marker_detected geometry_msgs::msg::PoseArray Detected marker poses
~/debug/marker_mapped visualization_msgs::msg::MarkerArray Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud sensor_msgs::msg::PointCloud2 PointCloud of the detected marker
~/debug/center_intensity_grid nav_msgs::msg::OccupancyGrid Center intensity grid for debug
~/debug/positive_grid nav_msgs::msg::OccupancyGrid Positive match grid for debug
~/debug/negative_grid nav_msgs::msg::OccupancyGrid Negative match grid for debug
~/debug/matched_grid nav_msgs::msg::OccupancyGrid Matched pattern grid for debug
~/debug/vote_grid nav_msgs::msg::OccupancyGrid Vote grid for marker detection debug

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

```plantuml @startuml

group main process start if (Receive a map?) then (yes) else (no) stop endif

:Interpolate based on the received ego-vehicle’s positions to align with sensor time;

if (Could interpolate?) then (yes) else (no) stop endif

:Detect markers (see “Detection Algorithm”);

:Calculate the distance from the ego-vehicle’s positions to the nearest marker’s position on the lanelet2 map;

if (Find markers?) then (yes) else (no) if (the distance is nearby?) then (yes) stop note : Error. It should have been able to detect marker else (no) stop note : Not Error. There are no markers around the ego-vehicle endif endif

:Calculate the correction amount from the ego-vehicle’s position;

if (Is the found marker’s position close to the one on the lanelet2 map?) then (yes) else (no) stop note : Detected something that isn’t a marker endif

:Publish result;

stop

File truncated at 100 lines see the full file

  1. Assumed ring of PointXYZIRADRT as channel of PointXYZIRC. ↩

CHANGELOG

Changelog for package autoware_lidar_marker_localizer

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • refactor(localization): move node design files into each package (#13101) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(lidar_marker_localizer): extend lidar-marker localization to enhance flexibility and debugging capabilities (#11574)

    • feat: parse landmarks only in target id list
    • feat: Add a y-axis condition to marker selection around the vehicle
    • feat: correct z axis of self pose
    • feat: reference a certain ring

    * feat: make detect_landmarks function templated for using PointType in both PointXYZIRC and PointXYZIRADRT

    • feat: make detect_landmarks ring loop robust to empty pointclouds
    • Add check to skip empty ring pointclouds in detect_landmarks
    • Prevent unnecessary processing and possible errors when a ring has no points
    • feat: make save_intensity function for csv output
    • Enable generic processing for multiple point cloud types
    • Prepare for future multi-LiDAR marker localization support
    • refactor: fix member function declarations and add const qualifiers
    • feat: add debug outputs for marker detection process
    • feat: make queue sizes for output pose configurable
    • doc: Add a y-axis condition to marker selection around the vehicle
    • doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

    * feat: add "lidar-marker" pose estimator to pose_estimator_airbiter # Conflicts: # launch/tier4_localization_launch/launch/localization.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml # launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

    • feat: make initial ring id range configurable
    • doc: update for ndt_lidar-maker mode
    • doc: update for new features in lidar-marker localizer

    * doc: fix indent To indicate the contributor's affiliation

    • refactor: update autoware_utils dependency
    • style(pre-commit): autofix
    • doc: update schema.json
    • style(pre-commit): autofix
    • fix: debug topics table and wrong condition to output
    • style(pre-commit): autofix
    • fix: diagnostics_interface dependency
    • chore: remove codes commented out

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • Contributors: Motz, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • feat: localization related packages support jazzy (#11419)
  • Contributors: Ryohsuke Mitsudome, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

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

  • fix(autoware_lidar_marker_localizer): fix deprecated autoware_utils header (#10514)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * fix: remove not used library ---------Co-authored-by:

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_marker_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_lidar_marker_localizer)/config/lidar_marker_localizer.param.yaml]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • input_pointcloud [default: ~/input/pointcloud]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • service_trigger_node_srv [default: ~/service/trigger_node_srv]

Messages

No message files found.

Services

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Plugins

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