turn off GNSS

[1111F11]

I use autoware and want to deploy it to my car, but I only have radar. I want to turn off GNSS but can’t find the switch. Can anyone help me?

[SakodaShintaro]

For localization, there is an argument "gnss_enabled" in pose_twist_estimator.launch.xml

https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L8-L9

[1111F11]

Thank you for your answer. I changed all gnss_enable in this file to false as you said. But still cannot perform positioning initialization correctly. The following is my summary of all current error messages, I hope it will be helpful to you. Finally, I sincerely thank you for your help.
1.[ERROR] [system.service_log_checker]: /localization/initialize: status code 1 'The vehicle is not stopped.' (/localization/util/pose_initializer_node)
2.[ERROR] [system.service_log_checker]: /api/localization/initialize: status code 1 'The vehicle is not stopped.' (/default_ad_api/node/localization)
3.[WARN] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer
4.[INFO] [rviz2]: Message Filter dropping message: frame 'base_link' at time 17239082.600 for reason 'discarding message because the queue is full'

[SakodaShintaro]

Thank you for the detailed information.

The vehicle is not stopped.

When autoware is running, use the following command to check the topics that pose_initializer is subscribed to.

~/autoware$ ros2 node info /localization/util/pose_initializer
/localization/util/pose_initializer
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /sensing/gnss/pose_with_covariance: geometry_msgs/msg/PoseWithCovarianceStamped
    /sensing/vehicle_velocity_converter/twist_with_covariance: geometry_msgs/msg/TwistWithCovarianceStamped

I think that it is good to check the
/sensing/vehicle_velocity_converter/twist_with_covariance: geometry_msgs/msg/TwistWithCovarianceStamped topic.

In particular, this error occurs when the topic is not published.

[Note] Related code

• https://github.com/autowarefoundation/autoware.universe/blob/3d17d84d080a77e964658e6b7e820f497fc9c067/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp#L143-L146
• https://github.com/autowarefoundation/autoware.universe/blob/3d17d84d080a77e964658e6b7e820f497fc9c067/common/autoware_motion_utils/src/vehicle/vehicle_state_checker.cpp#L48-L79