Autoware.Auto
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A node with boilerplate to operate a localizer and manage the input and output data flows is needed.
RelativeLocalizerNode is a generic relative localization node template that manages a localizer implementation and a map implementation which respectively conforms to the interfaces specified in LocalizerConstraint and MapConstraint and a map implementation that conforms to the inter, using a PoseInitializerBase implementation.
The type constraints are implemented as structs encapsulating series of static assertions which make the compilation fail with informant messages if the given algorithm implementation does not provide the required interfaces to the RelativeLocalizerNode
. Please see the documentation of these constraint structs to understand the interface requirements for new implementations of localization and mapping algorithms.
Since there are multiple callbacks, the node should be run in a single thread at any stage.
Input:
Output: