How can I initial pose estimate to NDT in Autoware.universe using only rviz

[meliketanrikulu]

I examined how the localization nodes work on the rosbag replay simulation demo. In addition to initial pose estimation in rviz, expects me to publish a message to estimate initial_pose from this topic"/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias " . It also provides this message via ekf nodes.

At the moment, I am trying to calculate pose estimates using only "2d pose estimate" in rviz without using pose estimates from any other source. but it gets error on this line.

Because initial_pose_msg_ptr_array_ is only populated with msg from other source ("/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias" topics callback). I want to use NDT without initial pose estimates from different sources like GNSS-INS . Is there a way to estimate in NDT using only rviz?

[YamatoAndo]

@meliketanrikulu Do you mean you want it to work without ekf_node?
If not, you can estimate the initial position using "2d pose estimate".

[meliketanrikulu]

Thanks for your reply. Yes, i want to use NDT without ekf_node. actually ekf_node provide initial_pose. I can change this topic as /initialpose (Message from this topic is published when I initialize pose estimate in rviz) but ndt node want to two or more times estimate initial pose . You can look this line.
https://github.com/autowarefoundation/autoware.universe/blob/bb96ae7b56085a6054ad1ade970bad399faef35a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp#L457

That's why I think it is expected to calculate initialpose from gnss and similar sources.
When I set it in rviz, it doesn't make much sense to set it twice.

[YamatoAndo]

Sorry. It is not possible to run without ekf_node in the current architecture.

If you can run with ekf_node, you can estimate pose using "2d pose estimate", via pose_initializer_node .
Please refer to the current node diagram below.

[meliketanrikulu]

Thanks for your reply @YamatoAndo . I understand now. I want to ask another question. We use ekf_node output when calculating initial_pose to get more accurate results? Is this true?

[YamatoAndo]

Yes! that's right!