Autoware Core Localization

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
jazzy

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_core_localization package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_admission autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils autoware_global_parameter_loader autoware_interface_spec_lint autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_test_manager autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	1.10.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-07
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_core_localization package

Maintainers

Ryohsuke Mitsudome
Mete Fatih Cırıt
Yutaka Kondo

Authors

Ryohsuke Mitsudome

Autoware Core Localization

Overview

The autoware_core_localization is a meta-package within the Autoware project, designed to manage and organize various localization-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different localization functionalities to estimate the vehicle’s pose, velocity, and acceleration within an environment.

Usage

The autoware_core_localization meta-package is used to launch and manage localization modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch localization_launch.xml

CHANGELOG

Changelog for package autoware_core_localization

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix([localization]{.title-ref}): remove duplicated config files, which wrongly remained due to my mistake (I'm sorry) (#1237) remove([localization]{.title-ref}): duplicated config files
fix([localization]{.title-ref}): remove duplicated config files (#1054)
- chore([localization]{.title-ref}): remove duplicated config files
- chore([localization]{.title-ref}): remove duplicated config files
- bug([pose_initializer]{.title-ref}): restore the used default values (see below)
- We can trace that the change is derived from here:
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes#diff-74292a33fd9e2f1bb16981050ebc0f61cff9abd1f50dde3be6424c3f989f854bL4-L5
* bug([localization]{.title-ref}): reuse pose_initializer launch (see below) Until this commit, some parameters such as [ekf_enabled]{.title-ref}, [gnss_enabled]{.title-ref}, ... etc are not passed. It seems we were using the hard-coded values in the previous [pose_initializer.param.yaml]{.title-ref}. So applied fixes to:
- Pass pose initializer flags via launch include
- Add defaults and bool params in pose initializer launch
- bug([localization]{.title-ref}): fix to pass [pose_initializer]{.title-ref} variables (see below)
- Followed a way that of [autowarefoundation/autoware_launch]{.title-ref}
- https://github.com/autowarefoundation/autoware_launch/blob/6b71b90f3a1fd07c08defe974c7caff917759108/tier4_universe_launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L26-L29
- This commit reverts the hard-coded values in the following commit
- https://github.com/autowarefoundation/autoware_core/pull/1054/changes/da904d6555e600ca93cc32653be3292843ddc527
- style(pre-commit): autofix
* bug: fix my stupid mistake when conflict resolve ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Junya Sasaki, github-actions

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
fix(autoware_core_localization): sync ekf_localizer param (#1093)
feat(autoware_ndt_scan_matcher): publish all map points if publisher has subscribers (#995)
- publish all map points if publisher has subscribers
- style(pre-commit): autofix
- fix error
- add parameter
- fix param name and add json
- add loaded map clear on ndt ptr reset
- reserve before adding points
- add new param to autoware_core_lozalization
* Update localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>
Contributors: Kazusa Hashimoto, Takagi, Isamu, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to localization packages (#984) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
fix: launch params (#975)
fix(autoware_core_localization): add missing dependency (#872)
Contributors: Mete Fatih Cırıt, Takagi, Isamu, Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_downsample_filters
	autoware_ekf_localizer
	autoware_ndt_scan_matcher
	autoware_pose_initializer
	autoware_stop_filter
	autoware_twist2accel
	topic_tools
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core

Launch files

launch/autoware_core_localization.launch.xml
- - gnss_input_topic [default: /sensing/gnss/pose_with_covariance]
  - lidar_input_topic [default: /sensing/lidar/top/pointcloud_raw_ex]
  - vehicle_twist_input_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
  - ekf_localizer_param_path [default: $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml]
  - stop_filter_param_path [default: $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml]
  - twist2accel_param_path [default: $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml]
  - pose_initializer_param_path [default: $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml]
  - initial_pose [default: []]
  - voxel_grid_downsample_filter_param_file [default: $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml]
  - ndt_scan_matcher_param_path [default: $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_core_localization` at Robotics Stack Exchange