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refactor(pose_initializer): rework parameters (#5773)
* refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * style(pre-commit): autofix * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> * refactor(pose_initializer): rework parameters Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> --------- Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎localization/pose_initializer/README.md

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| `gnss_enabled` | bool | If true, use the GNSS pose when no pose is specified. |
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| `gnss_pose_timeout` | bool | The duration that the GNSS pose is valid. |
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{{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }}
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### Services
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| Name | Type | Description |

‎localization/pose_initializer/config/pose_initializer.param.yaml

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ros__parameters:
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gnss_pose_timeout: 3.0 # [sec]
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stop_check_duration: 3.0 # [sec]
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ekf_enabled: $(var ekf_enabled)
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gnss_enabled: $(var gnss_enabled)
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yabloc_enabled: $(var yabloc_enabled)
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ndt_enabled: $(var ndt_enabled)
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stop_check_enabled: $(var stop_check_enabled)
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# from gnss
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gnss_particle_covariance:

‎localization/pose_initializer/launch/pose_initializer.launch.xml

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<arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
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<node pkg="pose_initializer" exec="pose_initializer_node" name="pose_initializer_node">
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<param from="$(var config_file)"/>
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<param name="ndt_enabled" value="$(var ndt_enabled)"/>
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<param name="gnss_enabled" value="$(var gnss_enabled)"/>
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<param name="ekf_enabled" value="$(var ekf_enabled)"/>
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<param name="yabloc_enabled" value="$(var yabloc_enabled)"/>
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<param name="stop_check_enabled" value="$(var stop_check_enabled)"/>
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<param from="$(var config_file)" allow_substs="true"/>
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<remap from="yabloc_align" to="/localization/pose_estimator/yabloc/initializer/yabloc_align_srv"/>
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<remap from="ndt_align" to="/localization/pose_estimator/ndt_align_srv"/>
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<remap from="stop_check_twist" to="/sensing/vehicle_velocity_converter/twist_with_covariance"/>

‎localization/pose_initializer/schema/pose_initializer.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Pose Initializer Node",
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"type": "object",
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"definitions": {
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"pose_initializer": {
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"type": "object",
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"properties": {
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"gnss_pose_timeout": {
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"type": "number",
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"description": "The duration that the GNSS pose is valid. [sec]",
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"default": "3.0",
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"minimum": 0.0
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},
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"stop_check_enabled": {
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"type": "string",
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"description": "If true, initialization is accepted only when the vehicle is stopped.",
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"default": "true"
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},
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"stop_check_duration": {
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"type": "number",
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"description": "The duration used for the stop check above. [sec]",
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"default": "3.0",
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"minimum": 0.0
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},
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"ekf_enabled": {
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"type": "string",
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"description": "If true, EKF localizer is activated.",
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"default": "true"
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},
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"gnss_enabled": {
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"type": "string",
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"description": "If true, use the GNSS pose when no pose is specified.",
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"default": "true"
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},
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"yabloc_enabled": {
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"type": "string",
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"description": "If true, YabLocModule is used.",
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"default": "true"
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},
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"ndt_enabled": {
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"type": "string",
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"description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.",
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"default": "true"
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},
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"gnss_particle_covariance": {
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"type": "array",
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"description": "gnss particle covariance",
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"default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
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},
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"output_pose_covariance": {
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"type": "array",
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"description": "output pose covariance",
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"default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
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}
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},
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"required": [
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"gnss_pose_timeout",
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"stop_check_duration",
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"ekf_enabled",
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"gnss_enabled",
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"yabloc_enabled",
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"ndt_enabled",
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"stop_check_enabled",
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"gnss_particle_covariance",
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"output_pose_covariance"
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],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/pose_initializer"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

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