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feat(feature_environment_recognizer)!: integrate feature_environment_recognizer into localization component #1717

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feat(feature_environment_recognizer)!: integrate feature_environment_recognizer into localization component #1717

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fce0dfd
feat: integrate feature_environment_recognizer into localization comp…
Motsu-san Dec 11, 2025
94c50e2
feat: use area-based instead of lanelet ID-based recognition
Motsu-san Dec 12, 2025
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25 changes: 25 additions & 0 deletions autoware_launch/config/localization/feature_environment_recognizer.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
/**:
ros__parameters:
# Default environment ID when area is not found in any list
# 0: Normal environment (default)
default_environment_id: 0

# Area subtype to environment ID mappings
# Define areas in the lanelet2 map with:
# - type="feature_environment_specify"
# - subtype=<subtype_name> (e.g., "uniform_road", "feature_poor_road")
# - area="yes"
#
# Environment ID 1: Uniform road (e.g., tunnel straight sections, uniform shape roads)
# 環境ID 1: 均一形状路（トンネル直線部など）
area_subtype_uniform_road:
environment_id: 1

# Environment ID 2: Feature-poor road (roads with few features for map matching)
# 環境ID 2: 特徴が少ない道路（地図マッチングに特徴が少ない道路）
area_subtype_feature_poor_road:
environment_id: 2

# You can add more area subtype mappings as needed:
# area_subtype_custom_area:
# environment_id: 3
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Expand Up @@ -42,6 +42,7 @@

<!-- parameter paths for common -->
<arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
<arg name="feature_environment_recognizer_param_path" value="$(var loc_config_path)/feature_environment_recognizer.param.yaml"/>
<arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
<arg name="stop_filter_param_path" value="$(var loc_config_path)/stop_filter.param.yaml"/>
<arg name="pose_instability_detector_param_path" value="$(var loc_config_path)/pose_instability_detector.param.yaml"/>
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