Merge branch 'tier4/universe' into feat/add-simulation-traffic-light-v1

tier4 · May 30, 2024 · 9c75f5b · 9c75f5b
2 parents 6115ec9 + 3c13a40
commit 9c75f5b
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diff --git a/tier4_localization_msgs/CMakeLists.txt b/tier4_localization_msgs/CMakeLists.txt
@@ -15,8 +15,10 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/InitializeLocalization.srv"
   "srv/PoseWithCovarianceStamped.srv"
   DEPENDENCIES
+    autoware_common_msgs
     builtin_interfaces
     geometry_msgs
 )

diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml
@@ -11,6 +11,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
 

diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv
@@ -0,0 +1,20 @@
+# constants for specifying initialization method
+uint8 AUTO = 0
+uint8 DIRECT = 1
+
+# input pose for initialization
+geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance
+
+# Variable to set initialization method
+# AUTO: The initial position is automatically estimated with localization algorithm.
+#       The input pose will be used as an initial guess if provided.
+# DIRECT: The initial position is set directly by the input pose without going through localization algorithm.
+uint8 method
+---
+# ERROR CODES used in response status in case of failure
+uint16 ERROR_UNSAFE = 1
+uint16 ERROR_GNSS_SUPPORT = 2
+uint16 ERROR_GNSS = 3
+uint16 ERROR_ESTIMATION = 4
+
+autoware_common_msgs/ResponseStatus status