diff --git a/localization/yabloc/README.md b/localization/yabloc/README.md
index 36dfd33369116..256659686f65a 100644
--- a/localization/yabloc/README.md
+++ b/localization/yabloc/README.md
@@ -6,7 +6,13 @@ This has been developed as a new localization stack for [Autoware](https://githu
-## Submodule
+## Installation
+
+### Prerequisites
+
+**Supporting `Ubuntu 22.04` + `ROS2 humble` now.**
+
+### Submodules
* [external/autoware_auto_msgs](https://github.com/tier4/autoware_auto_msgs)
* [external/autoware_msgs](https://github.com/autowarefoundation/autoware_msgs.git)
@@ -16,12 +22,7 @@ This has been developed as a new localization stack for [Autoware](https://githu
**NOTE:** Currently, this software is assumed to be built in a separate workspace in order not to contaminate the autoware workspace.
Someday this will be located in the workspace where Autoware blongs. These submodules will be removed at the time.
-## How to build
-
-**Supporting `Ubuntu 22.04` + `ROS2 humble` now.
-Some branches might support `ROS2 galactic`.**
-
-**NOTE:** Currently, this software is assumed to be built in a separate workspace in order not to contaminate the Autoware workspace.
+### How to build
```shell
mkdir yabloc_ws/src -p
@@ -47,7 +48,7 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_E
## Quick Start Demo
-ROSBAG made by AWSIM: [Google drive link](https://drive.google.com/drive/folders/1XVWfkDoz-0fncYC-_I6cmv1gkB6EfJ2Y?usp=share_link)
+rosbag made by AWSIM: [Google drive link](https://drive.google.com/drive/folders/1XVWfkDoz-0fncYC-_I6cmv1gkB6EfJ2Y?usp=share_link)
@@ -61,11 +62,9 @@ ros2 bag play awsim_yabloc_rosbag_sample
**NOTE:** `use_sim_time` is TRUE as default.
-### Run with standard ROSBAG
+### Run with rosbag
-Sample data: [Google drive link](https://drive.google.com/drive/folders/1uNxQ2uPFEGbYXUODQMc7GRO5r9c3Fj6o?usp=share_link)
-
-The link contains *rosbag* and *lanelet2* but *pointcloud*.
+click to open
+
+### Run with [AWSIM](https://github.com/tier4/AWSIM) (UNDER CONSTRACTION)
+
+click to open
**You have to change autoware.universe branch.**
@@ -109,11 +116,13 @@ ros2 launch pcdless_launch rviz.launch.xml
ros2 launch autoware_launch e2e_simulator.launch.xml
```
-## How to set initialpose
+
+
+## How to set initial pose
### 1. When YabLoc works `standalone:=true`(default) (without Autoware's pose_initializer)
-1. 2D Pose Estimate in Rviz
+1. `2D Pose Estimate` in Rviz
You can inidcate x, y and yaw manually in rviz.
@@ -127,11 +136,11 @@ If doppler (`ublox_msgs/msg/navpvt`) is available and the vehicle moves enough f
## Architecture
-
+
-### Input topics from sesnors
+### Input topics
-This localizer requires following topics to work.
+from sesnors
| topic name | msg type | description |
| ---- | ---- | -- |
@@ -142,8 +151,7 @@ This localizer requires following topics to work.
| `/sensing/gnss/septentrio/poscovgeodetic` | `septentrio_gnss_driver_msgs/msg/PosCovGeodetic` | If you use Septentrio |
| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs/msg/VelocityReport` | |
-### Input topics from autoware
-
+from autoware
| topic name | msg type | description |
| ---- | ---- | -- |
| `/tf_static` | `tf2_msgs/msg/TFMessage` | published from `sensor_kit` |
@@ -151,6 +159,8 @@ This localizer requires following topics to work.
#### about tf_static
+click to open
+
Some nodes requires `/tf_static` from `/base_link` to the frame_id of `/sensing/camera/traffic_light/image_raw/compressed` (e.g. `/traffic_light_left_camera/camera_optical_link`).
You can verify that the tf_static is correct with the following command.
@@ -171,7 +181,9 @@ ros2 run tf2_ros static_transform_publisher \
--yaw -1.570
```
-### Output
+