feat(pose_initializer): add a method type to the /localization/initialize service.

[YamatoAndo]

Description

I have added the capability to directly initialize by the input pose of the /localization/initialize service.
To facilitate this, a new service message is being defined tier4/tier4_autoware_msgs#121, and I have changed service message type of /localization/initialize
autoware_adapi_v1_msgs::srv::InitializeLocalization -> tier4_localization_msgs::srv::InitializeLocalization.
Along with that I have modified following packages

• pose_initilizer
• component_interface_specs
• default_ad_api

Related links

Tests performed

• test case1

ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization

The initial position is automatically estimated using the GNSS pose.

• test case2

ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization "
method: 0
"

The initial position is automatically estimated using the GNSS pose.

• test case3

ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
  - header:
      frame_id: map
    pose:
      pose:
        position:
          x: 89571.1640625
          y: 42301.1875
          z: -3.1565165519714355
        orientation:
          x: 0.0
          y: 0.0
          z: 0.28072773940524687
          w: 0.9597874433062874
      covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 0
"

The initial position is automatically estimated using the input pose.

• test case4

ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization "
pose_with_covariance:
  - header:
      frame_id: map
    pose:
      pose:
        position:
          x: 89571.1640625
          y: 42301.1875
          z: -3.1565165519714355
        orientation:
          x: 0.0
          y: 0.0
          z: 0.28072773940524687
          w: 0.9597874433062874
      covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467]
method: 1
"

The initial position is set directly by the input pose.

Notes for reviewers

This PR should be merged after tier4/tier4_autoware_msgs#121.
Otherwise, the build will fail, and the GitHub CI will not pass.

And this PR should be merged with tier4/tier4_ad_api_adaptor#112 at the same time.

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[isamu-takagi]

LGTM for default_ad_api package

[yukkysaito]

LGTM

[KYabuuchi]

I think the feature is fine. 👏

Since the method of setting the initial position via CLI is useful, how about writing it in the README of pose_initializer?
For example, a chapter like Direct initial position set via CLI.

[SakodaShintaro]

Thank you.
In the explanation, it looked like it would be fine to just merge the PRs in autoware.universe and tier4_autoware_msgs, but I got a build error.
Is it correct that the PR that Takagi-san linked to also needs to be merged at the same time?

[YamatoAndo]

@SakodaShintaro

Is it correct that tier4/tier4_ad_api_adaptor#112 also needs to be merged at the same time?

Yes, I'm sorry.

[YamatoAndo]

@KYabuuchi I added some descriptions to initialize pose via CLI

[KYabuuchi]

@YamatoAndo Thank you!
LGTM 😄

[SakodaShintaro]

Looks Good To Me