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docs(localization): add note for non-NDT users #496

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Dec 18, 2023
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docs(localization): add note for non-NDT users #496

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add note for non-NDT user
KYabuuchi Dec 6, 2023
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style(pre-commit): autofix
pre-commit-ci[bot] Dec 6, 2023
70b9fa9
fix typo
KYabuuchi Dec 6, 2023
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13 changes: 13 additions & 0 deletions docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md
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Expand Up @@ -96,3 +96,16 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi

**Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information,
please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter).

## Note when using non NDT pose estimator

!!! note

Since NDT is currently the most often used pose_estimator , the NDT diagnostics are registered for monitoring by default.
When using a pose_estimator other than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state.
Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving.

To work around this, please modify the configuration file of the system_error_monitor.
In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT.
To prevent emergencies even when NDT is not launched, remove this entry from the configuration.
Note that the module name `/performance_monitoring/matching_score` is specified in [diagnostics_aggregator/localization.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml).
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