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pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

Package symbol

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange

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Package symbol

pose_initializer_custom package from aichallenge2023-racing repo

aichallenge_launch aichallenge_submit_launch autoware_launch goal_pose_setter odom2tf path_to_trajectory simple_pure_pursuit tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch dallara_interface dallara_description dallara_launch initialpose_publisher pose_initializer_custom self_driving_controller autonoma_msgs can_msgs novatel_oem7_msgs vectornav_msgs

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description aichallenge2023-racing
Checkout URI https://github.com/automotiveaichallenge/aichallenge2023-racing.git
VCS Type git
VCS Version main
Last Updated 2024-01-29
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The pose_initializer package

Additional Links

No additional links.

Maintainers

  • Yamato Ando
  • Takagi, Isamu

Authors

  • Yamato Ando
  • Takagi, Isamu
docker/aichallenge/aichallenge_ws/src/aichallenge_submit/sample_packages/pose_initializer_custom/README.md

pose_initializer

Purpose

The 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

Name Type Description
ekf_enabled bool If true, EKF localizar is activated.
ndt_enabled bool If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.
stop_check_enabled bool If true, initialization is accepted only when the vehicle is stopped.
stop_check_duration bool The duration used for the stop check above.
gnss_enabled bool If true, use the GNSS pose when no pose is specified.
gnss_pose_timeout bool The duration that the GNSS pose is valid.

Services

Name Type Description
/localization/initialize autoware_adapi_v1_msgs::srv::InitializeLocalization initial pose from api

Clients

Name Type Description
/localization/pose_estimator/ndt_align_srv tier4_localization_msgs::srv::PoseWithCovarianceStamped 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

Connection with Default AD API

This pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of default_ad_api.

drawing

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/pose_initializer.launch.xml
      • config_file [default: $(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml]
      • gnss_enabled
      • ndt_enabled
      • ekf_enabled
      • stop_check_enabled

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pose_initializer_custom at Robotics Stack Exchange