add README.md

Signed-off-by: meliketanrikulu <melike@leodrive.ai>

Author: meliketanrikulu

localization/autoware_pose_covariance_modifier_node/README.md

@@ -1 +1,44 @@
-# autoware_pose_covariance_modifier
+# Overview
+This package is used to enable GNSS and NDT to be used together in localization.
+GNSS and NDT are different sources that generate poses for use in EKF. For EKF, 
+the covariance values of the pose source are important. The GNSS system can provide 
+us with its own error (RMSE) values. Using these error values, covariance values for
+GNSS can be calculated. However, in default autoware, NDT covariance values are determined 
+by default values. While this package manages which pose source will be used by reference 
+to the error values coming from GNSS, it also manages situations where GNSS and NDT are used together.  
+
+## Flowchart
+Default Autoware Pose Source is only NDT:  
+
+![new_proposal-original.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-original.drawio.png)  
+
+You can see how autoware_pose_covariance_modifier_node works in the diagram below:  
+
+![new_proposal-proposal.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-proposal.drawio.png)  
+## Activate This Feuture  
+This package is not used by default autoware, you need to activate it to use it.
+
+To activate, you need to change the `use_autoware_pose_covariance_modifier` parameter to true within the [tier4_localization_launch](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/localization.launch.xml
+).
+# Node
+## Subscribed Topics
+| Name                                | Type                                             | Description            |
+|-------------------------------------| ------------------------------------------------ |------------------------|
+| `input_trusted_pose_with_cov_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped`  | Input GNSS pose topic. |
+| `input_ndt_pose_with_cov_topic`     | `geometry_msgs::msg::PoseWithCovarianceStamped`  | Input NDT pose topic.  |
+
+## Published Topics
+| Name                                | Type                                             | Description                                                           |
+|-------------------------------------| ------------------------------------------------ |-----------------------------------------------------------------------|
+| `output_pose_with_covariance_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped`  | Output pose topic. It will be sent as input to ekf_localizer package. |
+
+## Parameters
+| Name                        | Type       | Description                                                                    |
+|-----------------------------|------------|--------------------------------------------------------------------------------|
+| `gnss_error_reliable_max`   | `double`   | Threshold value for the range in which GNSS error is most reliable.            |
+| `gnss_error_unreliable_min` | `double`   | Threshold value at which GNSS error is not considered reliable.                |
+| `yaw_error_deg_threshold`   | `double`   | Threshold value to understand whether the yaw error is within reliable limits. |
+
+### Important Notes:
+* In order to use this package, your GNSS sensor must provide you with the error value. If you do not have a GNSS sensor that provides you with the error value, you cannot use this package.
+

localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp

@@ -61,7 +61,7 @@ void AutowarePoseCovarianceModifierNode::publishPoseSource()
       selected_pose_type.data = "GNSS";
       break;
     case static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::GNSS_NDT):
-      selected_pose_type.data = "GNSS_NDT";
+      selected_pose_type.data = "GNSS + NDT";
       break;
     case static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::NDT):
       selected_pose_type.data = "NDT";