SakodaShintaro

feat(localization): add `lidar_marker_localizer`

3

## Description merge with https://github.com/autowarefoundation/autoware_launch/pull/861 ## Tests performed 1. Download [sample dataset](https://drive.google.com/file/d/1FuGKbkWrvL_iKmtb45PO9SZl1vAaJFVG/view?usp=sharing) _The sample dataset was acquired in National Institute for Land and Infrastructure Management, Full-scale tunnel experiment facility. The...

fix(tier4_localization_launch): add gnss_enabled arg

1

## Description The argument of `gnss_enabled` can now be given from outside of autoware.universe. Since there may be vehicles that do not have GNSS module, `gnss_enabled` should be able to...

feat(localization): add `nerf_based_localizer`

11

## Description Add the NeRF Based Localizer package. https://github.com/autowarefoundation/autoware.universe/assets/28504069/3869dbd0-60bc-497e-ab79-9e6f684391f8 See README for details https://github.com/autowarefoundation/autoware.universe/blob/b0cbb078799fec563dd76093ae6df5ef0894c881/localization/nerf_based_localizer/README.md ## Tests performed It has been confirmed that `logging_simulator` works with the trained data and rosbag...

Add documentation on how to add a new localization node in autoware

1

### Checklist - [X] I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). - [X] I've searched other issues and no duplicate issues were found. - [X] I've agreed with the maintainers that I...

feat(ndt_scan_matcher): add grid_search initial pose estimation

5

Must be merged with https://github.com/autowarefoundation/autoware_launch/pull/952 ## Description #### Context The current `ndt_scan_matcher` performs pure random search or TPE(Tree-structured Parzen Estimator) search in initial pose estimation. However, both methods suffer from...

## Description ## Tests performed Not applicable. ## Effects on system behavior Not applicable. ## Pre-review checklist for the PR author The PR author **must** check the checkboxes below when...

## Description See https://github.com/autowarefoundation/autoware.universe/pull/6790 ## Tests performed See https://github.com/autowarefoundation/autoware.universe/pull/6790 ## Effects on system behavior See https://github.com/autowarefoundation/autoware.universe/pull/6790 ## Pre-review checklist for the PR author The PR author **must** check the checkboxes...

## Types of PR - [ ] New Features - [x] Upgrade of existing features - [ ] Bugfix ## Description ### (1) Add a save topic `/localization/pose_estimator/initial_to_result_relative_pose` [driving_log_replayer/launch/localization.launch.py](https://github.com/tier4/driving_log_replayer/pull/461/files#diff-8945d549aab6aa532ea8336fe701f83bb83e3b2b9cc7bb38fd86ff3ff5441769R25) This...

refactor(ndt_scan_matcher, ndt_omp): move ndt_omp into ndt_scan_matcher

4

## Description Currently, we are using the [ndt_omp](https://github.com/tier4/ndt_omp) package as an external library. We would like to release this package through ROS2 bloom, but a package with the same name,...