docs(localization): add note for non-NDT users (autowarefoundation#496)

* add note for non-NDT user Signed-off-by: Kento Yabuuchi <[email protected]> * style(pre-commit): autofix * fix typo Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Dec 18, 2023 · 3d1e6ce · 3d1e6ce
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diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md
@@ -96,3 +96,16 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi
 
 **Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information,
 please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter).
+
+## Note when using non NDT pose estimator
+
+!!! note
+
+    Since NDT is currently the most often used pose_estimator , the NDT diagnostics are registered for monitoring by default.
+    When using a pose_estimator other than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state.
+    Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving.
+
+To work around this, please modify the configuration file of the system_error_monitor.
+In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT.
+To prevent emergencies even when NDT is not launched, remove this entry from the configuration.
+Note that the module name `/performance_monitoring/matching_score` is specified in [diagnostics_aggregator/localization.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml).