Is localization_tf_status necessary?

[h-ohta]

I found that localization_tf_status is not registered in /autoware/localization/node_alive_monitoring.
So, I made autowarefoundation/autoware.universe#544 .

However, @kenji-miyake said that we don't uselocalization_tf_status since pose(vehicle_kinematic_state) topic is used instead.

Now, I think we have two choices.

• delete localization_tf_status
• use localization_tf_status because tf and topic are different.

Do you have any ideas? Thank you for your cooperation.

[kenji-miyake]

@h-ohta The original reason why I added localization_tf_status is TIER IV has used TF instead of Pose as an output of the Localization component.

Diagnostics should be designed based on what failures we want to detect.
Considering the current use case "detecting whether the Localization component is down", I feel monitoring Pose is enough and that we can remove localization_tf_status.

If we want to detect a more complicated case such as "Localization component is alive and Pose is published, but only TF isn't published" in the future, we can re-add this feature.

[kenji-miyake]

However, since components in autoware.universe are just prototypes, I'm not sure how valuable doing cleanup tasks such as removing unused features is.

If it won't affect the system behavior, I believe we should spend more resources to creating autoware.core.