fix(localization): remove duplicated config files

[sasakisasaki]

Description

Remove the autoware_core_localization/config folder as it contains duplicated files which are existing in the following path:

• $(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml
• $(find-pkg-share autoware_stop_filter)/config/stop_filter.param.yaml
• $(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml
• $(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml
• $(find-pkg-share autoware_downsample_filters)/config/voxel_grid_downsample_filter_node.param.yaml
• $(find-pkg-share autoware_ndt_scan_matcher)/config/ndt_scan_matcher.param.yaml

Related links

• None

How was this PR tested?

We will use the planning simulation for runtime check. As the tests are done, we will make this PR as "Ready for review".
=> Tests are done 👍

Steps for tests

• Clone autoware_core with this PR's branch

$ git clone -b chore-remove-duplicated-config-files-in-localization git@github.com:sasakisasaki/autoware.core.git
$ cd autoware_core

• Then prepare core.repos with the following contents

repositories:
  core/autoware_cmake:
    type: git
    url: https://github.com/autowarefoundation/autoware_cmake.git
    version: 1.2.0
  autoware/autoware_simple_planning_simulator:
    type: git
    url: https://github.com/autowarefoundation/autoware_simple_planning_simulator.git
    version: separate-planning-simulator-dependency-from-autoware-universe
  autoware/tier4_autoware_msgs:
    type: git
    url: https://github.com/tier4/tier4_autoware_msgs.git
    version: tier4/universe

• Do vcs import

$ mkdir src
$ vcs import src < core.repos

• Install build dependencies, and do colcon build

$ source /opt/ros/humble/setup.bash
$ rosdep install -y --from-paths ./ --ignore-src --rosdistro $ROS_DISTRO
$ colcon build --base-paths ./ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

• Apply patch for fixing the launch files so we can run planning simulation based on autoware_core. Download autoware_core.patch then,

$ patch -p1 < autoware_core.patch

• Run planning simulation with is_planning_simulation:=true. We use two terminals:
  • Terminal 1

# Assume under `autoware_core` folder
$ source install/setup.bash
$ MAP_NAME=nishishinjuku_autoware_map
$ ros2 launch autoware_core autoware_core.launch.xml \
    vehicle_model:=autoware_sample_vehicle \
    sensor_model:=autoware_sample_sensor_kit \
    map_path:=$HOME/autoware_map/$MAP_NAME \
    is_planning_simulation:=true

Then set the initial pose and goal pose as the attached video
Screencast from 2026-04-28 20:13:40.webm

• Terminal 2
  Enable autonomous mode and switch to DRIVE gear

# Assume under `autoware_core` folder
$ source install/setup.bash
$ ros2 topic pub /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState '{mode: 2, is_autoware_control_enabled: true, is_autonomous_mode_available: true}' --once
$ ros2 topic pub /control/command/gear_cmd autoware_vehicle_msgs/msg/GearCommand 'command: 2' --once

You will see the ego vehicle start running as the attached video.

• Run without is_planning_simulation:=true. I verified all the localization modules are launched without any error.
  • During this check, I found the following error for down-sample module that of sensing component, which should be fixed as a separated PR as this PR's scope is localization component.

[voxel_grid_downsample_filter_node-6] terminate called after throwing an instance of 'rclcpp::exceptions::UninitializedStaticallyTypedParameterException'
[voxel_grid_downsample_filter_node-6]   what():  Statically typed parameter 'input_frame' must be initialized.

Conclusion for Tests

From these observation, I judged we can launch all the localization modules by this PR.

Notes for reviewers

The config files under the autoware_core_localization/config sometimes contains out-of-date parameters which are not used in the code. This PR will remove the duplicated files and make sure that the config files are up-to-date.

Interface changes

• None

Effects on system behavior

If anybody is using the config files under the autoware_core_localization/config folder, they need to change the path to the config files in their launch files. The new path should be as written in the description section.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 54.06%. Comparing base (8d210ee) to head (477f179).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1054      +/-   ##
==========================================
- Coverage   60.79%   54.06%   -6.74%     
==========================================
  Files         433      401      -32     
  Lines       25821    24334    -1487     
  Branches    12257    11028    -1229     
==========================================
- Hits        15698    13155    -2543     
- Misses       7134     9747    +2613     
+ Partials     2989     1432    -1557     

Flag	Coverage Δ		*Carryforward flag
daily-humble	55.18% <ø> (-12.58%)	⬇️	Carriedforward from 61757f3
daily-jazzy	55.28% <ø> (-12.49%)	⬇️	Carriedforward from 61757f3
differential-humble	0.12% <ø> (-55.77%)	⬇️
differential-jazzy	0.14% <ø> (-55.72%)	⬇️
total	49.64% <ø> (-0.81%)	⬇️	Carriedforward from 61757f3
total-humble	55.18% <ø> (-12.57%)	⬇️	Carriedforward from 61757f3
total-humble-agnocast	55.04% <ø> (-12.01%)	⬇️	Carriedforward from 61757f3
total-jazzy	55.30% <ø> (-12.48%)	⬇️	Carriedforward from 61757f3
total-jazzy-agnocast	55.15% <ø> (-11.95%)	⬇️	Carriedforward from 61757f3

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[xmfcx]

Direction looks right.

5 of 6 configs were either byte-identical to upstream or trivially aligned (EKF only gains the new diagnostics_publish_frequency: 10.0).

The <include>-of-upstream pattern matches what tier4_universe_launch already does.

Approving, with two items to address in a follow-up PR. Please prioritize that follow-up, ideally before the next release branch is cut.

---

1. voxel_grid_downsample_filter_node will crash at startup on this launch path.

You already saw and documented this.

The deleted autoware_core_localization/config/voxel_grid_downsample_filter.param.yaml was the only thing supplying input_frame / output_frame.

Upstream sensing/autoware_downsample_filters/config/voxel_grid_downsample_filter_node.param.yaml does not define them.

The node constructor at voxel_grid_downsample_filter_node.cpp:41-42 calls declare_parameter<std::string>(\"input_frame\") with no default, so it throws ParameterUninitializedException.

Inlining the <node> at autoware_core_localization.launch.xml:18-22 bypasses the upstream launch wrapper that would otherwise inject those frames.

Easiest fix in the follow-up: swap the inlined <node> for an <include> of \$(find-pkg-share autoware_downsample_filters)/launch/voxel_grid_downsample_filter_node.launch.xml.

That wrapper already defaults input_frame / output_frame to base_link, and matches how every other upstream launch is brought in by this file.

Until that lands, anyone launching autoware_core_localization.launch.xml outside is_planning_simulation:=true mode hits this crash. Please don't let the follow-up sit.

---

2. voxel_size_* silently changes from 3.0 m to 1.5 m.

Output density rises roughly 8x, and NDT input cost changes with it.

Whichever value is intended for the core profile, please call it out in the follow-up PR's description so it is not a silent tuning change.

---

Nice cleanup otherwise. Happy to see the duplication go.

[sasakisasaki]

@mitsudome-r Could you kindly review this PR please? 🙏

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