ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-07 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Yamato Ando
- Takagi, Isamu
- Masahiro Sakamoto
- Kento Yabuuchi
- NGUYEN Viet Anh
- Taiki Yamada
- Shintaro Sakoda
- Ryu Yamamoto
Authors
- Yamato Ando
- Takagi, Isamu
autoware_pose_initializer
Purpose
The autoware_pose_initializer is the package to send an initial pose to ekf_localizer.
It receives roughly estimated initial pose from GNSS/user.
Passing the pose to ndt_scan_matcher, and it gets a calculated ego pose from ndt_scan_matcher via service.
Finally, it publishes the initial pose to ekf_localizer.
This node depends on the map height fitter library.
See here for more details.
Interfaces
Parameters
{{ json_to_markdown(“localization/autoware_pose_initializer/schema/pose_initializer.schema.json”) }}
Services
| Name | Type | Description |
|---|---|---|
/localization/initialize |
autoware_internal_localization_msgs::srv::InitializeLocalization | initial pose from api |
Clients
| Name | Type | Description |
|---|---|---|
/localization/pose_estimator/ndt_align_srv |
autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped | pose estimation service |
/localization/pose_estimator/yabloc/initializer/yabloc_align_srv |
autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped | yabloc pose estimation service |
Subscriptions
| Name | Type | Description |
|---|---|---|
/sensing/gnss/pose_with_covariance |
geometry_msgs::msg::PoseWithCovarianceStamped | pose from gnss |
/sensing/vehicle_velocity_converter/twist_with_covariance |
geometry_msgs::msg::TwistStamped | twist for stop check |
Publications
| Name | Type | Description |
|---|---|---|
/localization/initialization_state |
autoware_adapi_v1_msgs::msg::LocalizationInitializationState | pose initialization state |
/initialpose3d |
geometry_msgs::msg::PoseWithCovarianceStamped | calculated initial ego pose |
/diagnostics |
diagnostic_msgs::msg::DiagnosticArray | diagnostics |
Diagnostics
pose_initializer_status
If the score of initial pose estimation result is lower than score threshold, ERROR message is output to the /diagnostics topic.
Connection with Default AD API
This autoware_pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of autoware_default_adapi.
Initialize pose via CLI
Using the GNSS estimated position
ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization
The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.
Using the input position
ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
- header:
frame_id: map
pose:
pose:
position:
x: 89571.1640625
y: 42301.1875
z: -3.1565165519714355
orientation:
x: 0.0
y: 0.0
z: 0.28072773940524687
w: 0.9597874433062874
covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 0
"
The input position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.
Direct initial position set
ros2 service call /localization/initialize autoware_internal_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
- header:
frame_id: map
pose:
pose:
position:
x: 89571.1640625
y: 42301.1875
z: -3.1565165519714355
orientation:
x: 0.0
y: 0.0
z: 0.28072773940524687
w: 0.9597874433062874
covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 1
"
The initial position is set directly by the input position without going through localization algorithm.
Via ros2 topic pub
ros2 topic pub --once /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "
header:
frame_id: map
pose:
pose:
position:
x: 89571.1640625
y: 42301.1875
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.28072773940524687
w: 0.9597874433062874
"
It behaves the same as “initialpose (from rviz)”. The position.z and the covariance will be overwritten by autoware_adapi_adaptors, so there is no need to input them.
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/pose_initializer.launch.xml
-
- config_file [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
- ndt_enabled
- gnss_enabled
- ekf_enabled
- yabloc_enabled
- stop_check_enabled
- sub_gnss_pose_cov [default: sub_gnss_pose_cov]
- gnss_initial_pose_auto_fix_target [default: pointcloud_map]