autoware_ndt_scan_matcher

Purpose

autoware_ndt_scan_matcher is a package for position estimation using the NDT scan matching method.

There are two main functions in this package:

• estimate position by scan matching
• estimate initial position via the ROS service using the Monte Carlo method

One optional function is regularization. Please see the regularization chapter in the back for details. It is disabled by default.

Inputs / Outputs

Input

sensing/gnss/pose_with_covariance is required only when regularization is enabled.

Output

Service

Parameters

Core Parameters

Frame

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/frame.json”) }}

Sensor Points

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/sensor_points.json”) }}

Ndt

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/ndt.json”) }}

Initial Pose Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/initial_pose_estimation.json”) }}

Validation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/validation.json”) }}

Score Estimation

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/score_estimation.json”) }}

Covariance

{{ json_to_markdown(“localization/autoware_ndt_scan_matcher/schema/sub/covariance.json”) }}

Regularization

Abstract

This is a function that adds the regularization term to the NDT optimization problem as follows.

$$ \begin{align} \min_{\mathbf{R},\mathbf{t}} \mathrm{NDT}(\mathbf{R},\mathbf{t}) +\mathrm{scale\ factor}\cdot \left| \mathbf{R}^\top (\mathbf{t_{base}-\mathbf{t}}) \cdot

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Changelog for package autoware_ndt_scan_matcher

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat([ndt_scan_matcher]{.title-ref}): add tests for scan path, based on the \@takam5f2's branch (#1446)

  • add: tests for scan path, based on the following \@takam5f2's branch
  • https://github.com/takam5f2/autoware_core/blob/5268228fadf9d74804178f8d698172a11364314b/localization/autoware_ndt_scan_matcher/test/test_ndt_scan_matcher_characteristics.cpp
  • fix: wordy comments
  • cosmetic bug: fix wrong comment
  • bug: fix wrong dependency
  • fix: simplify comments
  • fix: error log and comment, applying the following review comment
  • https://github.com/autowarefoundation/autoware_core/pull/1446#discussion_r4043894171

  * style(pre-commit): autofix ---------Co-authored-by: Tran Huu Nhat Huy <<29034232+TranHuuNhatHuy@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(ndt_scan_matcher): apply [agnocast_wrapper::Node]{.title-ref} to [ndt_scan_matcher]{.title-ref} (#1215)

  • apply agnocast_wrapper::Node
  • style(pre-commit): autofix
  • fix tests and source
  • style(pre-commit): autofix
  • use wrapper tf2 and ok()
  • delete unnecessary comments and avoid ALLOCATE
  • fix
  • fix(ndt_scan_matcher): add missing <utility> include for std::move
  • fix(ndt_scan_matcher): remove includes made redundant by the agnocast wrapper
  • fix(ndt_scan_matcher): take the client response directly
  • fix(ndt_scan_matcher): drop the duplicate <utility> include

  * test(ndt_scan_matcher): add the node to the executor through its base interface ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>>

• test(autoware_ndt_scan_matcher): add characterization harness and sensor-gate tests (#1348) Add a harness that drives NDTScanMatcher deterministically (diagnostics correlation, TF readiness, a differential stub map loader) and twelve cases that pin the sensor-points gates and the initial-pose subscriber ahead of extracting the hot path into a ROS-free core. Node-level tests move to ament_add_ros_isolated_gtest with their test dependencies declared. No production code changes. Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• refactor([ndt_scan_matcher]{.title-ref}): make map update module ROS-node free (#1322)

  • refactor: make map update module ROS-node free

  * Move the pcd loader client, debug publisher, and [loaded_map_]{.title-ref} to the node; inject the service call (PcdLoaderFunction) and diagnostics (DiagnosticsHandlingFunction).

  • style(pre-commit): autofix
  • fix: by [pre-commit]{.title-ref}
  • style(pre-commit): autofix
  • cosmetic: fix noisy-long comments
  • refactor: avoid doing hard diag task via callback
  • Apply the following review comment
  • https://github.com/autowarefoundation/autoware_core/pull/1322#pullrequestreview-4852039689
  • refactor: simplify [loaded_pcd_map]{.title-ref} publish logic
  • Apply the following review comment:
  • https://github.com/autowarefoundation/autoware_core/pull/1322#pullrequestreview-4852039689
  • style(pre-commit): autofix
  • sorry: forgot applying [pre-commit]{.title-ref}
  • style(pre-commit): autofix
  • bug: fix infinitely growing map, this is caused by my stupid mis-refactoring
  • refactor: move minor diagnostics handling into ROS-node
  • style(pre-commit): autofix
  • refactor([autoware_ndt_scan_matcher]{.title-ref}): simplify map update state handling
  • Extract distance_from_last_update() to remove the duplicated distance calculation
  • Drop the BuilderState struct and its need_rebuild flag by deriving the rebuild decision from out_of_map_range(position).

  * A failed rebuild no longer advances [last_update_position_]{.title-ref}, so it retries next tick. Co-Authored-By: Claude Opus 4.8 <<noreply@anthropic.com>>

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