Initial Pose Issue in EKF localizer

[sthakur-ymsli]

We are using rosbags to give input to the autoware ekf localizer, but it seems the triggered service is not activated. I'm not sure how to give initial pose input to the package, currently I'm giving it using a node, publishing the initial pose only once. Here is the snapshot of the warning after launching the ekf localizer. Kindly guide how to resolve this.

Snapshot of diagnostic screen from the package is also attached for the reference.

[TaikiYamada4]

@sthakur-ymsli

So you are launching the autoware_ekf_localizer alone?
If that's so, you have to

1. Publish a topic /initialpose3d to tell the autoware_ekf_localizer the initial position.
2. Call a service trigger_node and send "true" to activate autoware_ekf_localizer. I am talking in the Autoware manner so namespaces might change when you launch autoware_ekf_localizer alone.

   ros2 service call /localization/pose_twist_fusion_filter/trigger_node std_srvs/srv/SetBool "{data: true}"
   

We have to do this to let autoware_ekf_localizer not to publish zero positions from the start. In Autoware, the autoware_pose_initializer do this part.