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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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|`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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|`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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