merge: align localization template sources

src/localization_pkg/config/localization.yaml

@@ -42,4 +42,4 @@ amcl:
     z_rand: 0.2
     z_short: 0.05
     scan_topic: /scan
-    set_initial_pose: False  # RViz 2D Pose Estimate 으로 사용자가 직접 init
+    set_initial_pose: False  # RViz 2D Pose Estimate 으로 사용자가 직접 init

src/localization_pkg/launch/localization3d.launch.py

@@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
             param_rewrites=param_substitutions,
             convert_types=True),
         allow_substs=True)
-    
+
     load_nodes = GroupAction(
         actions=[
             Node(

src/localization_pkg/localization_pkg/localization_manager.py

@@ -6,6 +6,7 @@ from std_msgs.msg import String
 
 import subprocess
 import json
+import uuid
 
 class LocalizationManager(Node):
     def __init__(self):
@@ -19,10 +20,14 @@ class LocalizationManager(Node):
         )
         self.localization_process = None
         self.config_received = False
+        self.localization_session_id = uuid.uuid4().hex
         self.declare_parameter('localization_mode', 'amcl')
         self.declare_parameter('database_path', '')
         self.localization_mode = self.get_parameter('localization_mode').value
         self.database_path = self.get_parameter('database_path').value
+        self.localization_session_pub = self.create_publisher(String, '/localization_session_id', qos)
+        self.localization_session_pub.publish(String(data=self.localization_session_id))
+        self.get_logger().info(f'Localization session: {self.localization_session_id}')
 
         self.create_subscription(String, '/vehicle_config', self.handle_config, qos_profile=qos)