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feat(tier4_localization_msgs): add InitilizeLocalization srv #121

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merged 5 commits into from
May 27, 2024
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feat(tier4_localization_msgs): add InitilizeLocalization srv #121

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f172a4f
add InitializeLocalization.srv
YamatoAndo May 17, 2024
281b633
add new line
YamatoAndo May 17, 2024
49ccda1
add description
YamatoAndo May 17, 2024
f9f8067
remove unnecessary space
YamatoAndo May 17, 2024
669e920
ci(pre-commit): autofix
pre-commit-ci[bot] May 17, 2024
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2 changes: 2 additions & 0 deletions tier4_localization_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)
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1 change: 1 addition & 0 deletions tier4_localization_msgs/package.xml
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Expand Up @@ -11,6 +11,7 @@

<build_depend>rosidl_default_generators</build_depend>

<depend>autoware_common_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>geometry_msgs</depend>

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20 changes: 20 additions & 0 deletions tier4_localization_msgs/srv/InitializeLocalization.srv
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@@ -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
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