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feat(pose_initilizer): set intial pose directly #937

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merged 2 commits into from
Apr 1, 2024
Merged

feat(pose_initilizer): set intial pose directly #937

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e9835c0
feat(pose_initilizer): set intial pose directly
YamatoAndo Mar 27, 2024
2e6340c
rename params
YamatoAndo Mar 28, 2024
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4 changes: 4 additions & 0 deletions autoware_launch/config/localization/pose_initializer.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
/**:
ros__parameters:
user_defined_initial_pose:
enable: $(var user_defined_initial_pose/enable)
pose: $(var user_defined_initial_pose/pose)

gnss_pose_timeout: 3.0 # [sec]
stop_check_duration: 3.0 # [sec]
ekf_enabled: $(var ekf_enabled)
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2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Expand Up @@ -5,6 +5,7 @@
<arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
<arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
<arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
<arg name="initial_pose" default="[]" description="initial pose (x, y, z, quat_x, quat_y, quat_z, quat_w)"/>

<group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
Expand All @@ -13,6 +14,7 @@
<arg name="system_run_mode" value="$(var system_run_mode)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
<arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
<arg name="initial_pose" value="$(var initial_pose)"/>

<!-- parameter paths for common -->
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
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