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Localization#

Description#

This API manages the initialization of localization. Autoware requires a global pose as the initial guess for localization. The application can give this pose in the request, or send an empty pose array to let Autoware use the GNSS pose. See initialize the pose for the sequence.

States#

The localization initialization state starts at UNINITIALIZED. An initialize request changes it to INITIALIZING, which changes to INITIALIZED on success or back to UNINITIALIZED on failure. From INITIALIZED, a new request changes it to INITIALIZING again.UNINITIALIZEDINITIALIZINGINITIALIZEDinitializefailedsucceededinitialize
The localization initialization state changes with the initialize request and its result.
StateDescription
UNINITIALIZEDLocalization is not initialized. Waiting for a global pose as the initial guess.
INITIALIZINGLocalization is initializing.
INITIALIZEDLocalization is initialized. Initialization can be requested again if necessary.

If an initialization fails, the state changes to UNINITIALIZED, also when localization was initialized before the request.