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localization/pose_initializer/README.md

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@@ -54,10 +54,11 @@ This `pose_initializer` is used via default AD API. For detailed description of
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```
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ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization
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```
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The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.
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The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.
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### Using the input position
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```
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ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization "
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pose_with_covariance:
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method: 0
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"
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```
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The input position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.
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### Direct initial position set
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```
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ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization "
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pose_with_covariance:
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method: 1
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```
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The initial position is set directly by the input position without going through localization algorithm.
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The initial position is set directly by the input position without going through localization algorithm.
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### Via ros2 topic pub
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### Via ros2 topic pub
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```
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ros2 topic pub --once /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "
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header:

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