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Package Structure

包结构与依赖关系

The Autoware Universe localization module consists of multiple ROS 2 packages, each responsible for an independent functional unit. The diagram below shows the dependency relationships between major packages.

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autoware_universe / localization

ndt_scan_matcher

localization_util

ekf_localizer

pose_initializer

ar_tag_based_localizer

landmark_manager

lidar_marker_localizer

yabloc_particle_filter

yabloc_common

yabloc_image_processing

pose_estimator_arbiter

gyro_odometer

yabloc_pose_initializer

localization_error_monitor

pose_instability_detector

stop_filter

twist2accel

Localization Module Package Dependency Graph

PackageFunctionPath
ndt_scan_matcherNDT matching of LiDAR point clouds with PCD mapslocalization/ndt_scan_matcher/
ekf_localizerExtended Kalman Filter fusing Pose + Twistlocalization/ekf_localizer/
gyro_odometerIMU + wheel speed fusion outputting Twistlocalization/gyro_odometer/
pose_initializerPose initialization for cold start/loss recoverylocalization/pose_initializer/
yabloc_particle_filterVisual particle filter localization corelocalization/yabloc/yabloc_particle_filter/
ar_tag_based_localizerAprilTag visual landmark localizationlocalization/landmark_based_localizer/ar_tag_based_localizer/
lidar_marker_localizerLiDAR retroreflector landmark localizationlocalization/landmark_based_localizer/lidar_marker_localizer/
pose_estimator_arbiterMulti-source switching arbitrationlocalization/pose_estimator_arbiter/
localization_error_monitorCovariance ellipse monitoringlocalization/localization_error_monitor/
pose_instability_detectorPose jump detectionlocalization/pose_instability_detector/
localization_utilCommon utility librarylocalization/localization_util/
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