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‎localization/autoware_pose_covariance_modifier_node/README.md

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# Overview
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This package is used to enable GNSS and NDT to be used together in localization.
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GNSS and NDT are different sources that generate poses for use in EKF. For EKF,
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the covariance values of the pose source are important. The GNSS system can provide
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GNSS and NDT are different sources that generate poses for use in EKF. For EKF,
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the covariance values of the pose source are important. The GNSS system can provide
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us with its own error (RMSE) values. Using these error values, covariance values for
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GNSS can be calculated. However, in default autoware, NDT covariance values are determined
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by default values. While this package manages which pose source will be used by reference
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to the error values coming from GNSS, it also manages situations where GNSS and NDT are used together.
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GNSS can be calculated. However, in default autoware, NDT covariance values are determined
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by default values. While this package manages which pose source will be used by reference
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to the error values coming from GNSS, it also manages situations where GNSS and NDT are used together.
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## Flowchart
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Default Autoware Pose Source is only NDT:
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![new_proposal-original.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-original.drawio.png)
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Default Autoware Pose Source is only NDT:
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![new_proposal-original.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-original.drawio.png)
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You can see how autoware_pose_covariance_modifier_node works in the diagram below:
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You can see how autoware_pose_covariance_modifier_node works in the diagram below:
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![new_proposal-proposal.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-proposal.drawio.png)
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## Activate This Feuture
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![new_proposal-proposal.drawio.png](..%2F..%2F..%2F..%2F..%2F..%2F..%2FDocuments%2Fnew_proposal-proposal.drawio.png)
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## Activate This Feuture
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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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).
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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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## 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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| 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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| Name | Type | Description |
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|-------------------------------------| ------------------------------------------------ |-----------------------------------------------------------------------|
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| `output_pose_with_covariance_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Output pose topic. It will be sent as input to ekf_localizer package. |
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| Name | Type | Description |
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| ----------------------------------- | ----------------------------------------------- | --------------------------------------------------------------------- |
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| `output_pose_with_covariance_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Output pose topic. It will be sent as input to ekf_localizer package. |
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## Parameters
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| Name | Type | Description |
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|-----------------------------|------------|--------------------------------------------------------------------------------|
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| `gnss_error_reliable_max` | `double` | Threshold value for the range in which GNSS error is most reliable. |
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| `gnss_error_unreliable_min` | `double` | Threshold value at which GNSS error is not considered reliable. |
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| `yaw_error_deg_threshold` | `double` | Threshold value to understand whether the yaw error is within reliable limits. |
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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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| Name | Type | Description |
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| --------------------------- | -------- | ------------------------------------------------------------------------------ |
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| `gnss_error_reliable_max` | `double` | Threshold value for the range in which GNSS error is most reliable. |
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| `gnss_error_unreliable_min` | `double` | Threshold value at which GNSS error is not considered reliable. |
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| `yaw_error_deg_threshold` | `double` | Threshold value to understand whether the yaw error is within reliable limits. |
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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.

‎localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp

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AutowarePoseCovarianceModifierNode::AutowarePoseCovarianceModifierNode()
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: Node("AutowarePoseCovarianceModifierNode")
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{
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gnss_error_reliable_max_ =
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this->declare_parameter<double>("gnss_error_reliable_max", 0.10);
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gnss_error_unreliable_min_ =
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this->declare_parameter<double>("gnss_error_unreliable_min", 0.25);
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yaw_error_deg_threshold_ =
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this->declare_parameter<double>("yaw_error_deg_threshold", 0.3);
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gnss_error_reliable_max_ = this->declare_parameter<double>("gnss_error_reliable_max", 0.10);
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gnss_error_unreliable_min_ = this->declare_parameter<double>("gnss_error_unreliable_min", 0.25);
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yaw_error_deg_threshold_ = this->declare_parameter<double>("yaw_error_deg_threshold", 0.3);
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trusted_pose_with_cov_sub_ =
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this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(

‎localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp

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int pose_source_;
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rclcpp::Time trustedPoseCallbackTime;
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double gnss_error_reliable_max_, gnss_error_unreliable_min_,yaw_error_deg_threshold_;
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double gnss_error_reliable_max_, gnss_error_unreliable_min_, yaw_error_deg_threshold_;
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};
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#endif // AUTOWARE_POSE_COVARIANCE_MODIFIER_NODE_HPP_

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