localization_manager Namespace Reference

Classes
class	LocalizationManager
	Primary logic class for the localization manager node. More...
struct	LocalizationManagerConfig
	Struct to store the configuration settings for the LocalizationManager class. More...
class	LocalizationTransitionTable
	Class defining the state transition table behavior for the LocalizationManager. More...
class	Node
	Core execution node for this package. More...

Enumerations
enum	LocalizerMode {   NDT = 0 , GNSS = 1 , AUTO_WITH_TIMEOUT = 2 , AUTO_WITHOUT_TIMEOUT = 3 ,   GNSS_WITH_NDT_INIT = 4 , GNSS_WITH_FIXED_OFFSET = 5 }
	Enum describing the possible operational modes of the LocalizationManager. More...
enum class	LocalizationState {   UNINITIALIZED , INITIALIZING , OPERATIONAL , DEGRADED ,   DEGRADED_NO_LIDAR_FIX , AWAIT_MANUAL_INITIALIZATION }
	Enum describing the possible states of the localization system. More...
enum class	LocalizationSignal {   INITIAL_POSE , GOOD_NDT_FREQ_AND_FITNESS_SCORE , POOR_NDT_FREQ_OR_FITNESS_SCORE , UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE ,   TIMEOUT , LIDAR_SENSOR_FAILURE , LIDAR_INITIALIZED_SWITCH_TO_GPS , GNSS_DATA_TIMEOUT }
	Enum describing the possible signals to change the current LocalizationState. More...

Functions
std::ostream &	operator<< (std::ostream &os, LocalizerMode m)
	Stream operator for LocalizerMode enum. More...
std::ostream &	operator<< (std::ostream &os, LocalizationState s)
	Stream operator for LocalizationState enum. More...
carma_localization_msgs::msg::LocalizationStatusReport	stateToMsg (LocalizationState state, const rclcpp::Time &stamp)
	Helper function to convert LocalizationState objects into LocalizationStatusReport ROS messages. More...
std::ostream &	operator<< (std::ostream &os, LocalizationSignal s)
	Stream operator for LocalizationSignal enum. More...
def	generate_launch_description ()

Enumeration Type Documentation

LocalizationSignal

enum class localization_manager::LocalizationSignal

strong

Enum describing the possible signals to change the current LocalizationState.

Enumerator
INITIAL_POSE
GOOD_NDT_FREQ_AND_FITNESS_SCORE
POOR_NDT_FREQ_OR_FITNESS_SCORE
UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE
TIMEOUT
LIDAR_SENSOR_FAILURE
LIDAR_INITIALIZED_SWITCH_TO_GPS
GNSS_DATA_TIMEOUT

Definition at line 67 of file LocalizationTypes.hpp.

    {
        INITIAL_POSE,
        GOOD_NDT_FREQ_AND_FITNESS_SCORE,
        POOR_NDT_FREQ_OR_FITNESS_SCORE,
        UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE,
        TIMEOUT,
        LIDAR_SENSOR_FAILURE,
        LIDAR_INITIALIZED_SWITCH_TO_GPS,
        GNSS_DATA_TIMEOUT
    };

LocalizationState

enum class localization_manager::LocalizationState

strong

Enum describing the possible states of the localization system.

Enumerator
UNINITIALIZED
INITIALIZING
OPERATIONAL
DEGRADED
DEGRADED_NO_LIDAR_FIX
AWAIT_MANUAL_INITIALIZATION

Definition at line 41 of file LocalizationTypes.hpp.

    {
        UNINITIALIZED,
        INITIALIZING,
        OPERATIONAL,
        DEGRADED,
        DEGRADED_NO_LIDAR_FIX,
        AWAIT_MANUAL_INITIALIZATION,
    };

LocalizerMode

enum localization_manager::LocalizerMode

Enum describing the possible operational modes of the LocalizationManager.

Enumerator
NDT
GNSS
AUTO_WITH_TIMEOUT
AUTO_WITHOUT_TIMEOUT
GNSS_WITH_NDT_INIT
GNSS_WITH_FIXED_OFFSET

Definition at line 25 of file LocalizationTypes.hpp.

    {
        NDT = 0,                  // NDT only operation
        GNSS = 1,                 // GNSS only operation
        AUTO_WITH_TIMEOUT = 2,    // NDT operation with support for GPS fallback that will timeout
        AUTO_WITHOUT_TIMEOUT = 3, // NDT operation with support for GPS fallback that will not timeout
        GNSS_WITH_NDT_INIT = 4,   // GNSS only operation with NDT initialization, switching to GNSS after 5 sequential timesteps of OPERATIONAL NDT
        GNSS_WITH_FIXED_OFFSET = 5 // GNSS only operation with fixed offset
    };

Function Documentation

generate_launch_description()

def localization_manager.generate_launch_description

(

)

Definition at line 31 of file localization_manager.py.

def generate_launch_description():
 
    # Declare the log_level launch argument
    log_level = LaunchConfiguration('log_level')
    declare_log_level_arg = DeclareLaunchArgument(
        name ='log_level', default_value='WARN')
    
    # Get parameter file path
    param_file_path = os.path.join(
        get_package_share_directory('localization_manager'), 'config/parameters.yaml')
 
        
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='localization_manager_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                    package='localization_manager',
                    plugin='localization_manager::Node',
                    name='localization_manager_node',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ param_file_path ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])

operator<<() [1/3]

std::ostream & localization_manager::operator<<	(	std::ostream &	os,
		LocalizationSignal	s
	)

Stream operator for LocalizationSignal enum.

Definition at line 51 of file LocalizationTypes.cpp.

    {
        switch (s)
        { // clang-format off
    case LocalizationSignal::INITIAL_POSE   : os << "INITIAL_POSE"; break;
    case LocalizationSignal::GOOD_NDT_FREQ_AND_FITNESS_SCORE: os << "GOOD_NDT_FREQ_AND_FITNESS_SCORE"; break;
    case LocalizationSignal::POOR_NDT_FREQ_OR_FITNESS_SCORE : os << "POOR_NDT_FREQ_OR_FITNESS_SCORE"; break;
    case LocalizationSignal::UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE  : os << "UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE"; break;
    case LocalizationSignal::TIMEOUT  : os << "TIMEOUT"; break;
    case LocalizationSignal::LIDAR_SENSOR_FAILURE  : os << "LIDAR_SENSOR_FAILURE"; break;
    case LocalizationSignal::LIDAR_INITIALIZED_SWITCH_TO_GPS  : os << "LIDAR_INITIALIZED_SWITCH_TO_GPS"; break;
    case LocalizationSignal::GNSS_DATA_TIMEOUT  : os << "GNSS_DATA_TIMEOUT"; break;
    default: os.setstate(std::ios_base::failbit);
  } // clang-format on
        return os;
    }

References GNSS_DATA_TIMEOUT, GOOD_NDT_FREQ_AND_FITNESS_SCORE, INITIAL_POSE, LIDAR_INITIALIZED_SWITCH_TO_GPS, LIDAR_SENSOR_FAILURE, POOR_NDT_FREQ_OR_FITNESS_SCORE, TIMEOUT, and UNUSABLE_NDT_FREQ_OR_FITNESS_SCORE.

operator<<() [2/3]

std::ostream & localization_manager::operator<<	(	std::ostream &	os,
		LocalizationState	s
	)

Stream operator for LocalizationState enum.

Definition at line 36 of file LocalizationTypes.cpp.

    {
        switch (s)
        { // clang-format off
    case LocalizationState::UNINITIALIZED   : os << "UNINITIALIZED"; break;
    case LocalizationState::INITIALIZING: os << "INITIALIZING"; break;
    case LocalizationState::OPERATIONAL : os << "OPERATIONAL"; break;
    case LocalizationState::DEGRADED  : os << "DEGRADED"; break;
    case LocalizationState::DEGRADED_NO_LIDAR_FIX  : os << "DEGRADED_NO_LIDAR_FIX"; break;
    case LocalizationState::AWAIT_MANUAL_INITIALIZATION  : os << "AWAIT_MANUAL_INITIALIZATION"; break;
    default: os.setstate(std::ios_base::failbit);
  } // clang-format on
        return os;
    }

References AWAIT_MANUAL_INITIALIZATION, DEGRADED, DEGRADED_NO_LIDAR_FIX, INITIALIZING, OPERATIONAL, and UNINITIALIZED.

operator<<() [3/3]

std::ostream & localization_manager::operator<<	(	std::ostream &	os,
		LocalizerMode	m
	)

Stream operator for LocalizerMode enum.

Definition at line 21 of file LocalizationTypes.cpp.

    {
        switch (m)
        { // clang-format off
        case LocalizerMode::NDT   : os << "NDT"; break;
        case LocalizerMode::GNSS: os << "GNSS"; break;
        case LocalizerMode::GNSS_WITH_NDT_INIT: os << "GNSS_WITH_NDT_INIT"; break;
        case LocalizerMode::GNSS_WITH_FIXED_OFFSET: os << "GNSS_WITH_FIXED_OFFSET"; break;
        case LocalizerMode::AUTO_WITH_TIMEOUT : os << "AUTO_WITH_TIMEOUT"; break;
        case LocalizerMode::AUTO_WITHOUT_TIMEOUT : os << "AUTO_WITHOUT_TIMEOUT"; break;
        default: os.setstate(std::ios_base::failbit);
    } // clang-format on
        return os;
    }

References AUTO_WITH_TIMEOUT, AUTO_WITHOUT_TIMEOUT, GNSS, GNSS_WITH_FIXED_OFFSET, GNSS_WITH_NDT_INIT, and NDT.

stateToMsg()

carma_localization_msgs::msg::LocalizationStatusReport localization_manager::stateToMsg	(	LocalizationState	state,
		const rclcpp::Time &	stamp
	)

Helper function to convert LocalizationState objects into LocalizationStatusReport ROS messages.

Parameters

state	The state to convert
stamp	The timestamp to set for the message header

Returns

The initialized report message

Definition at line 68 of file LocalizationTypes.cpp.

    {
        carma_localization_msgs::msg::LocalizationStatusReport msg;
        switch (state)
        {
        case LocalizationState::UNINITIALIZED:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::UNINITIALIZED;
            break;
        case LocalizationState::INITIALIZING:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::INITIALIZING;
            break;
        case LocalizationState::OPERATIONAL:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::OPERATIONAL;
            break;
        case LocalizationState::DEGRADED:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::DEGRADED;
            break;
        case LocalizationState::DEGRADED_NO_LIDAR_FIX:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::DEGRADED_NO_LIDAR_FIX;
            break;
        case LocalizationState::AWAIT_MANUAL_INITIALIZATION:
            msg.status = carma_localization_msgs::msg::LocalizationStatusReport::AWAIT_MANUAL_INITIALIZATION;
            break;
        default:
            throw std::invalid_argument("LocalizationStates do not match carma_localization_msgs::msg::LocalizationStatusReport "
                                        "states");
            break;
        }
        msg.header.stamp = stamp;
 
        return msg;
    }

References AWAIT_MANUAL_INITIALIZATION, DEGRADED, DEGRADED_NO_LIDAR_FIX, INITIALIZING, OPERATIONAL, and UNINITIALIZED.

Referenced by localization_manager::LocalizationManager::posePubTick().

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