From 9a6e85fd322639749db272ff91c70347f6670d79 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 16 Aug 2022 19:28:40 +0900 Subject: [PATCH] feat: update readme Signed-off-by: Takagi, Isamu --- localization/pose_initializer/README.md | 47 +------------------ .../docs/map_height_fitter.md | 22 +++++++++ .../pose_initializer/docs/pose_initializer.md | 46 ++++++++++++++++++ 3 files changed, 70 insertions(+), 45 deletions(-) create mode 100644 localization/pose_initializer/docs/map_height_fitter.md create mode 100644 localization/pose_initializer/docs/pose_initializer.md diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 9122d5a4bcc68..c9e39058e6604 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -1,47 +1,4 @@ # pose_initializer -## Purpose - -`pose_initializer` is the package to send an initial pose to `ekf_localizer`. -It receives roughly estimated initial pose from GNSS/user. -Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service. -Finally, it publishes the initial pose to `ekf_localizer`. - -## Interfaces - -### Parameters - -| Name | Type | Description | -| --------------------- | ---- | ---------------------------------------------------------------------------------------- | -| `ndt_enabled` | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. | -| `stop_check_enabled` | bool | If true, initialization is accepted only when the vehicle is stopped. | -| `stop_check_duration` | bool | The duration used for the stop check above. | -| `gnss_enabled` | bool | If true, use the GNSS pose when no pose is specified. | -| `gnss_pose_timeout` | bool | The duration that the GNSS pose is valid. | - -### Services - -| Name | Type | Description | -| -------------------------- | ------------------------------------------------- | --------------------- | -| `/localization/initialize` | autoware_ad_api_msgs::srv::InitializeLocalization | initial pose from api | - -### Clients - -| Name | Type | Description | -| -------------------------------------------- | ------------------------------------------------------- | ----------------------- | -| `/localization/pose_estimator/ndt_align_srv` | tier4_localization_msgs::srv::PoseWithCovarianceStamped | pose estimation service | - -### Subscriptions - -| Name | Type | Description | -| ----------------------------------------------------------- | --------------------------------------------- | -------------------- | -| `/sensing/gnss/pose_with_covariance` | geometry_msgs::msg::PoseWithCovarianceStamped | pose from gnss | -| `/sensing/vehicle_velocity_converter/twist_with_covariance` | geometry_msgs::msg::TwistStamped | twist for stop check | -| `/map/pointcloud_map` | sensor_msgs::msg::PointCloud2 | pointcloud map | - -### Publications - -| Name | Type | Description | -| ------------------------------------ | ---------------------------------------------------------- | --------------------------- | -| `/localization/initialization_state` | autoware_ad_api_msgs::msg::LocalizationInitializationState | pose initialization state | -| `/initialpose3d` | geometry_msgs::msg::PoseWithCovarianceStamped | calculated initial ego pose | +- [pose_initializer](./docs/pose_initializer.md) +- [map_height_fitter](./docs/map_height_fitter.md) diff --git a/localization/pose_initializer/docs/map_height_fitter.md b/localization/pose_initializer/docs/map_height_fitter.md new file mode 100644 index 0000000000000..ee7fdfb44264d --- /dev/null +++ b/localization/pose_initializer/docs/map_height_fitter.md @@ -0,0 +1,22 @@ +# map_height_fitter + +## Purpose + +This node provides a service to fit a pose height to a map. +Use this service as preprocessing for `pose_initializer` when using a initial poses with inaccurate height such as RViz and GNSS. +This service replaces the Z value of the input pose with the lowest point of the map point cloud within a cylinder of XY-radius. +If no point is found in this range, returns the input pose without changes. + +## Interfaces + +### Services + +| Name | Type | Description | +| ----------------------------------- | ------------------------------------------------------- | -------------------- | +| `/localization/util/fit_map_height` | tier4_localization_msgs::srv::PoseWithCovarianceStamped | pose fitting service | + +### Subscriptions + +| Name | Type | Description | +| --------------------- | ----------------------------- | -------------- | +| `/map/pointcloud_map` | sensor_msgs::msg::PointCloud2 | pointcloud map | diff --git a/localization/pose_initializer/docs/pose_initializer.md b/localization/pose_initializer/docs/pose_initializer.md new file mode 100644 index 0000000000000..08d27ae83b51d --- /dev/null +++ b/localization/pose_initializer/docs/pose_initializer.md @@ -0,0 +1,46 @@ +# pose_initializer + +## Purpose + +`pose_initializer` is the package to send an initial pose to `ekf_localizer`. +It receives roughly estimated initial pose from GNSS/user. +Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service. +Finally, it publishes the initial pose to `ekf_localizer`. + +## Interfaces + +### Parameters + +| Name | Type | Description | +| --------------------- | ---- | ---------------------------------------------------------------------------------------- | +| `ndt_enabled` | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. | +| `stop_check_enabled` | bool | If true, initialization is accepted only when the vehicle is stopped. | +| `stop_check_duration` | bool | The duration used for the stop check above. | +| `gnss_enabled` | bool | If true, use the GNSS pose when no pose is specified. | +| `gnss_pose_timeout` | bool | The duration that the GNSS pose is valid. | + +### Services + +| Name | Type | Description | +| -------------------------- | ------------------------------------------------- | --------------------- | +| `/localization/initialize` | autoware_ad_api_msgs::srv::InitializeLocalization | initial pose from api | + +### Clients + +| Name | Type | Description | +| -------------------------------------------- | ------------------------------------------------------- | ----------------------- | +| `/localization/pose_estimator/ndt_align_srv` | tier4_localization_msgs::srv::PoseWithCovarianceStamped | pose estimation service | + +### Subscriptions + +| Name | Type | Description | +| ----------------------------------------------------------- | --------------------------------------------- | -------------------- | +| `/sensing/gnss/pose_with_covariance` | geometry_msgs::msg::PoseWithCovarianceStamped | pose from gnss | +| `/sensing/vehicle_velocity_converter/twist_with_covariance` | geometry_msgs::msg::TwistStamped | twist for stop check | + +### Publications + +| Name | Type | Description | +| ------------------------------------ | ---------------------------------------------------------- | --------------------------- | +| `/localization/initialization_state` | autoware_ad_api_msgs::msg::LocalizationInitializationState | pose initialization state | +| `/initialpose3d` | geometry_msgs::msg::PoseWithCovarianceStamped | calculated initial ego pose |