localization.launch.xml

<?xml version="1.0"?>
<launch>
  <arg name="pose_source" description="A string consisting of ndt, yabloc, artag and eagleye joined by underscores no matter the order. e.g. ndt_yabloc"/>
  <arg name="twist_source"/>
  <arg name="system_run_mode"/>

  <!-- parameter paths for ndt -->
  <arg name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"/>
  <arg name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"/>
  <arg name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"/>
  <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path"/>

  <!-- Parameter files -->
  <arg name="localization_error_monitor_param_path"/>
  <arg name="ekf_localizer_param_path"/>
  <arg name="pose_initializer_param_path"/>
  <arg name="eagleye_param_path"/>
  <arg name="ar_tag_based_localizer_param_path"/>

  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud"/>
  <arg name="target_pointcloud_container_name" default="/localization/util/pointcloud_preprocessor/pointcloud_container" description="The name of the container preprocessing the pointcloud"/>

  <!-- localization module -->
  <group>
    <push-ros-namespace namespace="localization"/>
    <!-- pose_twist_estimator module -->
    <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/pose_twist_estimator.launch.xml">
      <arg name="target_pointcloud_container_name" value="$(var target_pointcloud_container_name)"/>
    </include>

    <!-- pose_twist_fusion_filter module -->
    <group>
      <push-ros-namespace namespace="pose_twist_fusion_filter"/>
      <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml"/>
    </group>

    <!-- localization_error_monitor_module -->
    <group>
      <include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml"/>
    </group>
  </group>
</launch>