fix(lidar_marker_localizer): unintended implementation fixes#11709

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Motsu-san wants to merge 33 commits intoautowarefoundation:mainfrom

Motsu-san:fix/default_setting_on_lidar_marker_localizer

Contributor

Motsu-san commented Dec 1, 2025 •

edited

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Description

Unintended implementation fixes
Please open and merge this after the following pull-requests merged
#11574
autowarefoundation/autoware_launch#1695

Related links

Parent Issue:

fix(lidar_marker_localizer): unintended implementation fixes autoware_launch#1715

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Motsu-san added component:localization run:build-and-test-differential labels

github-project-automation bot added this to Software Working Group

github-project-automation bot moved this to To Triage in Software Working Group

github-actions bot added type:documentation component:launch labels

github-actions bot commented Dec 1, 2025 •

edited

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Motsu-san changed the title ~~fix(lidar_marker_localizer): default setting on lidar marker localizer~~ fix(lidar_marker_localizer): unintended implementation fixes

Motsu-san mentioned this pull request

fix(lidar_marker_localizer): unintended implementation fixes autowarefoundation/autoware_launch#1715

Draft

Motsu-san mentioned this pull request

feat(lidar_marker_localizer): road surface lidar marker extension #11701

Draft

Motsu-san force-pushed the fix/default_setting_on_lidar_marker_localizer branch from a269527 to c9988ca Compare

January 28, 2026 13:03

Contributor

paulsohn commented Feb 6, 2026

@Motsu-san cc @KYabuuchi @TaikiYamada4 @YamatoAndo

As we decided to migrate tier4 launchers into autoware_launch repository,
a separate PR for tier4 launchers must be created unless this PR is merged before 2026/02/10 07:00 UTC (16:00 JST)

Motsu-san force-pushed the fix/default_setting_on_lidar_marker_localizer branch from 9fd3b0a to 2b1476b Compare

February 17, 2026 02:15

github-actions bot removed the component:launch label

Contributor Author

Motsu-san commented Feb 17, 2026

@paulsohn Thank you for your notice! The conflict has been resolved.

Motsu-san force-pushed the fix/default_setting_on_lidar_marker_localizer branch from c7ed18b to 09abd87 Compare

February 18, 2026 01:04

Motsu-san added 14 commits

February 18, 2026 10:53


          feat: parse landmarks only in target id list

4b9fc93

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: Add a y-axis condition to marker selection around the vehicle

e67ef66

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: correct z axis of self pose

bf37ae9

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: reference a certain ring

d21ff9a

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: make detect_landmarks function templated

de35bbf

for using PointType in both PointXYZIRC and PointXYZIRADRT

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: make detect_landmarks ring loop robust to empty pointclouds

39c8dd8

- Add check to skip empty ring pointclouds in detect_landmarks
- Prevent unnecessary processing and possible errors when a ring has no points

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: make save_intensity function for csv output

33c1e74

- Enable generic processing for multiple point cloud types
- Prepare for future multi-LiDAR marker localization support

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          refactor: fix member function declarations and add const qualifiers

4aa4d56

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: add debug outputs for marker detection process

e73b7da

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: make queue sizes for output pose configurable

f7b0245

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          doc: Add a y-axis condition to marker selection around the vehicle

12056a9

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          doc: add marker_height_from_ground to lidar_marker_localizer.schema.json

d471eca

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: add "lidar-marker" pose estimator to pose_estimator_airbiter

197b767

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>

# Conflicts:
#	launch/tier4_localization_launch/launch/localization.launch.xml
#	launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml
#	launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml


          feat: make initial ring id range configurable

9bb905b

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>

Motsu-san and others added 19 commits

February 18, 2026 10:53


          doc: update for ndt_lidar-maker mode

74fbb6d

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          doc: update for new features in lidar-marker localizer

ef58aad

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          doc: fix indent

0a09bda

To indicate the contributor's affiliation

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          refactor: update autoware_utils dependency

420cff4

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          style(pre-commit): autofix

212deaa


          doc: update schema.json

af33288

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          style(pre-commit): autofix

4981a1c


          fix: debug topics table and wrong condition to output

8ba4cd8

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          style(pre-commit): autofix

448d6a2


          fix: diagnostics_interface dependency

5304caa

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          chore: remove codes commented out

f8771f6

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          style(pre-commit): autofix

da67f7e


          feat: add road marker mode parameter

db756a7

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: add road surface lidar marker extension

b5763ad

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          docs: add road marker mode parameter

4939a62

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          feat: add unit tests for LidarMarkerLocalizer and implement testing f…

d9c9775

…ramework

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          fix: disable z position correction

If enabled, it may cause instability in the z-direction in the case of driving on level road

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          fix: double output of marker_pointcloud

00ea942

Signed-off-by: Motsu-san <83898149+Motsu-san@users.noreply.github.com>


          style(pre-commit): autofix

c118c38

Motsu-san force-pushed the fix/default_setting_on_lidar_marker_localizer branch from 226e61f to c118c38 Compare

February 18, 2026 02:02

codecov bot commented Feb 18, 2026 •

edited

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Codecov Report

❌ Patch coverage is 19.00826% with 196 lines in your changes missing coverage. Please review.
✅ Project coverage is 18.68%. Comparing base (435a7f1) to head (c118c38).
⚠️ Report is 309 commits behind head on main.

Files with missing lines	Patch %	Lines
...ar_marker_localizer/src/lidar_marker_localizer.cpp	25.27%	136 Missing ⚠️
...autoware_landmark_manager/src/landmark_manager.cpp	0.00%	43 Missing ⚠️
...mator_arbiter/src/stopper/stopper_lidar_marker.hpp	0.00%	12 Missing ⚠️
...imator_arbiter/src/pose_estimator_arbiter_core.cpp	0.00%	3 Missing and 1 partial ⚠️
...ose_estimator_arbiter/src/stopper/base_stopper.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11709      +/-   ##
==========================================
+ Coverage   18.05%   18.68%   +0.63%     
==========================================
  Files        1838     1869      +31     
  Lines      126279   127487    +1208     
  Branches    44164    46858    +2694     
==========================================
+ Hits        22796    23826    +1030     
- Misses      84517    85364     +847     
+ Partials    18966    18297     -669

Flag	Coverage Δ		*Carryforward flag
daily	`20.55% <ø> (+0.01%)`	⬆️	Carriedforward from d9c9775
daily-cuda	`18.05% <ø> (+0.01%)`	⬆️	Carriedforward from d9c9775
differential	`2.79% <19.00%> (?)`
total-cuda	`18.05% <ø> (+0.01%)`	⬆️	Carriedforward from d9c9775

*This pull request uses carry forward flags. Click here to find out more.

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stale bot commented Apr 19, 2026

This pull request has been automatically marked as stale because it has not had recent activity.

stale bot added the status:stale label

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KYabuuchi Awaiting requested review from KYabuuchi KYabuuchi will be requested when the pull request is marked ready for review KYabuuchi is a code owner

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YamatoAndo Awaiting requested review from YamatoAndo YamatoAndo will be requested when the pull request is marked ready for review YamatoAndo is a code owner

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component:localization run:build-and-test-differential status:stale type:documentation