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meliketanrikuluxmfcx
andcommittedMar 14, 2024·
fix CI - Sentence case - markdownlint
Signed-off-by: meliketanrikulu <melike@leodrive.ai> Co-authored-by: M. Fatih Cırıt <xmfcx@users.noreply.github.com>
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‎localization/autoware_pose_covariance_modifier_node/README.md

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<img src="./media/new_proposal-proposal.drawio.png" width="620">
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</p>
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## Activate This Feuture
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## Activate this feature
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This package is not used by default autoware, you need to activate it to use it.
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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).
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# Node
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## Node
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## Subscribed Topics
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### Subscribed topics
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| Name | Type | Description |
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| ----------------------------------- | ----------------------------------------------- | ---------------------- |
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| `input_trusted_pose_with_cov_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input GNSS pose topic. |
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| `input_ndt_pose_with_cov_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input NDT pose topic. |
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## Published Topics
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### Published topics
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| Name | Type | Description |
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| ----------------------------------- | ----------------------------------------------- | ------------------------------------------------------------------------------------------------------- |
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| `output/ndt_position_rmse` | `std_msgs::msg::Float32` | Output pose ndt avarage rmse in position xy. It is published only when the enable_debug_topics is true. |
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| `output/gnss_position_rmse` | `std_msgs::msg::Float32` | Output pose gnss avarage rmse in position xy.It is published only when the enable_debug_topics is true. |
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## Parameters
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### Parameters
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| Name | Type | Description |
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| -------------------------------------------- | -------- | ------------------------------------------------------------------------------ |
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| `error_thresholds.yaw_error_deg_threshold` | `double` | Threshold value to understand whether the yaw error is within reliable limits. |
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| `debug.enable_debug_topics` | `bool` | Enables the debug topics |
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### Important Notes
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## Important notes
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- 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.
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- You need to use this package with georeferenced map

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