autoware_internal_localization_msgs

The autoware_internal_localization_msgs package

README

This package contains message, service, and action definitions used by the localization system in Autoware.

The package includes service definitions for:

PoseWithCovarianceStamped: Service to estimate initial pose with covariance information
InitializeLocalization : Service to initialize the localization system with different methods

This service is used to estimate the initial pose of the vehicle.

Request:

geometry_msgs/PoseWithCovarianceStamped pose_with_covariance: Input pose with covariance

Response:

bool success: Whether the service execution was successful
bool reliable: Whether the estimated pose is reliable
geometry_msgs/PoseWithCovarianceStamped pose_with_covariance: Estimated pose with covariance

This service is used to initialize the localization system with different methods.

Request:

geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance: Optional input pose for initialization
uint8 method: Initialization method
- AUTO (0): The initial position is automatically estimated with localization algorithm. The input pose will be used as an initial guess if provided.
- DIRECT (1): The initial position is set directly by the input pose without going through localization algorithm.

Response:

autoware_common_msgs/ResponseStatus status: Response status containing error codes in case of failure:
- ERROR_UNSAFE (1): Unsafe initialization
- ERROR_GNSS_SUPPORT (2): GNSS support error
- ERROR_GNSS (3): GNSS error
- ERROR_ESTIMATION (4): Estimation error