Pose Estimator Arbiter

Pose Estimator Arbiter manages the lifecycle of multiple localization sources, deciding which sources are active based on scenario rules.

Supported Sources

Source	Enum Value	Stopper Mechanism
`NDT Scan Matcher`	ndt	Intercept point cloud topic
`YabLoc`	yabloc	Intercept image topic + call pause service
`Eagleye`	eagleye	Intercept output pose topic
`AR Tag`	artag	Intercept image topic
`LiDAR Marker`	lidar_marker	Intercept point cloud topic

Custom Switching Rules

Developers can inherit from BaseSwitchRule to implement custom rules. For example, switching based on vehicle zone (NDT for outdoor yard, AR Tag for loading zone) or localization quality (switch to YabLoc when NDT score drops).

custom_switch_rule.hpp

cpp

class PortSwitchRule : public BaseSwitchRule {
public:
  std::unordered_map<PoseEstimatorType, bool> update() override {
    // Dynamic switching based on zone and quality
    if (is_in_loading_zone()) {
      return {{PoseEstimatorType::artag, true},
              {PoseEstimatorType::ndt, false}};
    }
    return {{PoseEstimatorType::ndt, true},
            {PoseEstimatorType::artag, false}};
  }
};

Landmark Localizer

Monitoring & Diagnostics