feat: update direct initial pose

Author: hayato-m126

driving_log_replayer/driving_log_replayer/localization.py

@@ -31,7 +31,7 @@
 
 from driving_log_replayer.result import EvaluationItem
 from driving_log_replayer.result import ResultBase
-from driving_log_replayer.scenario import InitialPose
+from driving_log_replayer.scenario import InitialPose as InitialPoseModel
 from driving_log_replayer.scenario import number
 from driving_log_replayer.scenario import Scenario
 
@@ -68,8 +68,8 @@ class Evaluation(BaseModel):
     UseCaseName: Literal["localization"]
     UseCaseFormatVersion: Literal["1.2.0", "1.3.0"]
     Conditions: Conditions
-    InitialPose: InitialPose | None
-    DirectInitialPose: str | None = None
+    InitialPose: InitialPoseModel | None
+    DirectInitialPose: InitialPoseModel | None
 
     @model_validator(mode="after")
     def mutually_exclusive(self) -> "Evaluation":

driving_log_replayer_cli/simulation/run.py

@@ -240,9 +240,6 @@ def cmd_use_bag_only(
     launch_localization = scenario.Evaluation.get("LaunchLocalization")
     if launch_localization is not None:
         launch_arg_dict_scenario["localization"] = launch_localization
-    direct_initialpose = scenario.Evaluation.get("DirectInitialPose")
-    if direct_initialpose is not None:
-        launch_arg_dict_scenario["initial_pose"] = direct_initialpose
     launch_arg_dict_scenario.update(launch_args_dict)
     return launch_command + clean_up_cmd()
 

sample/localization/scenario_direct_initialpose.yaml

@@ -18,4 +18,13 @@ Evaluation:
       Method: NVTL # NVTL or TP which method to use for evaluation
       AllowableLikelihood: 2.3 # If above this value, the localization reliability value is considered normal.
       NGCount: 10 # If the reliability value is lower than the threshold value for more than this number in the sequence. the evaluation is considered to have failed.
-  DirectInitialPose: "[3839.340576171875,73731.3359375,19.639482498168945,-0.023971009814459248,0.005891999600528019,-0.9709848597542231,0.237863568369043]"
+  DirectInitialPose:
+    position:
+      x: 3839.340576171875
+      y: 73731.3359375
+      z: 19.639482498168945
+    orientation:
+      x: -0.023971009814459248
+      y: 0.005891999600528019
+      z: -0.9709848597542231
+      w: 0.237863568369043