tier4_localization_component.launch.xml

<?xml version="1.0"?>
<launch>
  <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
  <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
  <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
  <arg
    name="lidar_container_name"
    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
    description="The target container to which lidar preprocessing nodes in localization be attached"
  />

  <group>
    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
      <arg name="pose_source" value="$(var pose_source)"/>
      <arg name="twist_source" value="$(var twist_source)"/>
      <arg name="system_run_mode" value="$(var system_run_mode)"/>
      <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>

      <!-- parameter paths for common -->
      <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
      <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
      <arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
      <arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>

      <!-- parameter paths for ndt -->
      <arg name="ndt_scan_matcher/ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher/ndt_scan_matcher.param.yaml"/>
      <arg
        name="ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range_param_path"
        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml"
      />
      <arg
        name="ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_downsample_filter_param_path"
        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml"
      />
      <arg
        name="ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter_param_path"
        value="$(var loc_config_path)/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml"
      />

      <!-- parameter paths for yabloc -->
      <arg name="camera_pose_initializer_param_path" value="$(var loc_config_path)/yabloc/camera_pose_initializer.param.yaml"/>
      <arg name="camera_particle_corrector_param_path" value="$(var loc_config_path)/yabloc/camera_particle_corrector.param.yaml"/>
      <arg name="gnss_particle_corrector_param_path" value="$(var loc_config_path)/yabloc/gnss_particle_corrector.param.yaml"/>
      <arg name="predictor_param_path" value="$(var loc_config_path)/yabloc/predictor.param.yaml"/>
      <arg name="graph_segment_param_path" value="$(var loc_config_path)/yabloc/graph_segment.param.yaml"/>
      <arg name="segment_filter_param_path" value="$(var loc_config_path)/yabloc/segment_filter.param.yaml"/>
      <arg name="undistort_param_path" value="$(var loc_config_path)/yabloc/undistort.param.yaml"/>
      <arg name="ground_server_param_path" value="$(var loc_config_path)/yabloc/ground_server.param.yaml"/>
      <arg name="ll2_decomposer_param_path" value="$(var loc_config_path)/yabloc/ll2_decomposer.param.yaml"/>

      <!-- parameter paths for eagleye -->
      <arg name="eagleye_param_path" value="$(find-pkg-share autoware_launch)/config/localization/eagleye_config.param.yaml"/>
    </include>
  </group>
</launch>