README

autoware_internal_localization_msgs

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

Description

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

Services

PoseWithCovarianceStamped

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

InitializeLocalization

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