feat(tier4_localization_msgs): add reliability for localization pose

[RyuYamamoto]

Related Links

autowarefoundation/autoware.universe#8275

Description

Added reliability variable to PoseWithCovarianceStamped.csv.

For the following PR, I would like to add reliability variable to check the reliability of the initial pose estimation result with localization score.
autowarefoundation/autoware.universe#8275

As a reason for that I want to separate bool variable for whether initial pose estimation has completed successfully and whether initial pose estimation results is reliable.

bool success # check estimation has completed successfully
bool reliability # check result is reliable 　

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[yukkysaito]

As a reason for that, I want to separate the boolean variable for whether the initial pose estimation has completed successfully and whether the initial pose estimation result is reliable.

Could you please confirm the clear distinction between "success" and "reliable"? Does the "success" field become false when the initial pose estimation wasn't performed in the first place? When the initial pose estimation is clearly incorrect, does "success" become false and "reliable" also become false?

[RyuYamamoto]

@yukkysaito

If failure to run initial pose estimation with some reason and could not get result, set success to false.
For example, following reasons.

• ros service is not start
• sensor points / map points is not set on the side ndt_scan_matcher
• etc...

In that case, without checking reliable, transition UNINTIALIZED Status.

reliable is used to check whether result of initial pose estimation was output but reliability of pose was good or bad.

[yukkysaito]

@yukkysaito

If failure to run initial pose estimation with some reason and could not get result, set success to false. For example, following reasons.

• ros service is not start
• sensor points / map points is not set on the side ndt_scan_matcher
• etc...

In that case, without checking reliable, transition UNINTIALIZED Status.

reliable is used to check whether result of initial pose estimation was output but reliability of pose was good or bad.

Thank you for your explanation. I understand that there are reasonable grounds. 👍

[RyuYamamoto]

I will also include a comment in srv files.

[RyuYamamoto]

@yukkysaito @mitsudome-r Could you please check the PR?

[yukkysaito]

Thank you. The changes themselves seem good.

Due to various circumstances, we need to carefully consider the impact of this PR within the company. Please wait a moment.

[yukkysaito]

LGTM