autoware_pose_initializer

Purpose

The autoware_pose_initializer is the package to send an initial pose to ekf_localizer. It receives roughly estimated initial pose from GNSS/user. Passing the pose to ndt_scan_matcher, and it gets a calculated ego pose from ndt_scan_matcher via service. Finally, it publishes the initial pose to ekf_localizer. This node depends on the map height fitter library. See here for more details.

Interfaces

Parameters

{{ json_to_markdown(“localization/autoware_pose_initializer/schema/pose_initializer.schema.json”) }}

Services

Clients

Subscriptions

Publications

Diagnostics

pose_initializer_status

If the score of initial pose estimation result is lower than score threshold, ERROR message is output to the /diagnostics topic.

Connection with Default AD API

This autoware_pose_initializer is used via default AD API. For detailed description of the API description, please refer to the description of autoware_default_adapi.

Initialize pose via CLI

Using the GNSS estimated position

ros2 service call /localization/initialize autoware_localization_msgs/srv/InitializeLocalization

The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.

Using the input position

ros2 service call /localization/initialize autoware_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
  - header:
      frame_id: map
    pose:
      pose:
        position:
          x: 89571.1640625
          y: 42301.1875
          z: -3.1565165519714355
        orientation:
          x: 0.0
          y: 0.0
          z: 0.28072773940524687
          w: 0.9597874433062874
      covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 0
"

The input position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position.

Direct initial position set

```bash ros2 service call /localization/initialize autoware_localization_msgs/srv/InitializeLocalization “ pose_with_covariance:

• header:

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Changelog for package autoware_pose_initializer

1.10.0 (2026-09-28)

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

• feat(map_height_fitter, pose_initializer, adapi_adaptors): move the nodes to agnocast_wrapper::Node (#1445)

  • feat(map_height_fitter, pose_initializer, adapi_adaptors): move the nodes to agnocast_wrapper::Node
  • refactor(map_height_fitter, pose_initializer, adapi_adaptors): use AgnocastOnlyCallbackIsolatedExecutor and drop redundant comments
  • refactor(map_height_fitter, pose_initializer, adapi_adaptors): drop the comments that restate the code
  • docs(map_height_fitter, pose_initializer, adapi_adaptors): note what the agnocast_env include provides

  * docs(map_height_fitter, pose_initializer): explain the ENABLE_AGNOCAST test gate ---------

• fix(autoware_pose_initializer): drop the nested spin from the user defined initial pose (#1423)

  * refactor(autoware_pose_initializer): drop the nested spin from the user defined initial pose [PoseInitializer]{.title-ref} applied [user_defined_initial_pose]{.title-ref} from its constructor, where the executor is not running yet, so [LocalizationTriggerModule::send_request()]{.title-ref} had to spin a throwaway executor over the node to collect the trigger response. The constructor now only validates the parameter and schedules a one-shot timer on [group_srv_]{.title-ref}, so the initialization runs under the node's own executor like every other path. The [need_spin]{.title-ref} flag threaded through [change_node_trigger()]{.title-ref}, [set_user_defined_initial_pose()]{.title-ref} and [send_request()]{.title-ref} goes with it. Adds a fixture for the startup path, which needs the trigger mocks in place before the node is constructed and has to wait for the volatile [pose_reset]{.title-ref} subscription to match before the node starts spinning. It covers the configured pose reaching [pose_reset]{.title-ref}, both localizers being toggled off and back on, the failure path leaving the node uninitialized without letting the exception escape the timer callback, and the two parameter validations.

  * fix(autoware_pose_initializer): claim INITIALIZING before arming the startup timer The UNINITIALIZED published in the constructor otherwise stands until the timer runs, and autoware_automatic_pose_initializer can build an AUTO request from it that lands after the configured pose was applied and replaces it.

  * test(autoware_pose_initializer): assert the startup timer shares the initialize service group Reads the wiring back through for_each_callback_group instead of trying to observe the absence of interleaving at runtime. ---------Co-authored-by: Tran Huu Nhat Huy <<29034232+TranHuuNhatHuy@users.noreply.github.com>>

• test(autoware_pose_initializer): implement characterization test (#1432)

• feat(localization): add node designs for the pose/twist estimation nodes (#1409)

  * feat(localization): add node designs for the pose/twist estimation nodes Declare NdtScanMatcher, EkfLocalizer, GyroOdometer, StopFilter and Twist2Accel node designs, with remap_target set to each node's hardcoded topic and service names, and extend PoseInitializer with the map, GNSS, stop-check inputs and the align/trigger/partial-map-load clients that pose_initializer.launch.xml remaps. These let a system designer module compose the localization stack directly from nodes.

  * feat(localization): describe node designs and bump to format 0.4.0 ---------

• refactor: migrate node design files from autoware_universe (#1381) Node design files for packages that moved to autoware_core, placed at the in-package convention <package>/design/<Name>.node.yaml. Co-authored-by: Claude Fable 5 <<noreply@anthropic.com>>

• fix(autoware_pose_initializer): remove unnecessary dependency to fmt (#1377)

• fix(localization): declare the dependencies these packages use (#1369) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>.

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