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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_gyro_odometer package as a ROS 2 node
Additional Links
No additional links.
Maintainers
- Yamato Ando
- Masahiro Sakamoto
- Kento Yabuuchi
- NGUYEN Viet Anh
- Taiki Yamada
- Shintaro Sakoda
- Ryu Yamamoto
Authors
- Yamato Ando
autoware_gyro_odometer
Purpose
autoware_gyro_odometer is the package to estimate twist by combining imu and vehicle speed.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
vehicle/twist_with_covariance |
geometry_msgs::msg::TwistWithCovarianceStamped |
twist with covariance from vehicle |
imu |
sensor_msgs::msg::Imu |
imu from sensor |
Output
| Name | Type | Description |
|---|---|---|
twist_with_covariance |
geometry_msgs::msg::TwistWithCovarianceStamped |
estimated twist with covariance |
Parameters
{{ json_to_markdown(“localization/autoware_gyro_odometer/schema/gyro_odometer.schema.json”) }}
Assumptions / Known limits
-
[Assumption] The frame_id of input twist message must be set to base_link.
-
[Assumption] The covariance in the input messages must be properly assigned.
-
[Assumption] The angular velocity is set to zero if both the longitudinal vehicle velocity and the angular velocity around the yaw axis are sufficiently small. This is for suppression of the IMU angular velocity bias. Without this process, we misestimate the vehicle status when stationary.
-
[Limitation] The frequency of the output messages depends on the frequency of the input IMU message.
-
[Limitation] We cannot produce reliable values for the lateral and vertical velocities. Therefore we assign large values to the corresponding elements in the output covariance matrix.
Diagnostics
| Name | Description | Transition condition to Warning | Transition condition to Error |
|---|---|---|---|
topic_time_stamp |
the time stamp of service calling. [nano second] | none | none |
is_arrived_first_vehicle_twist |
whether the vehicle twist topic has been received even once. | not arrive yet | none |
is_arrived_first_imu |
whether the imu topic has been received even once. | not arrive yet | none |
vehicle_twist_time_stamp_dt |
the time difference between the current time and the latest vehicle twist topic. [second] | none | the time is longer than message_timeout_sec
|
imu_time_stamp_dt |
the time difference between the current time and the latest imu topic. [second] | none | the time is longer than message_timeout_sec
|
vehicle_twist_queue_size |
the size of vehicle_twist_queue. | none | none |
imu_queue_size |
the size of gyro_queue. | none | none |
is_succeed_transform_imu |
whether transform imu is succeed or not. | none | failed |
CHANGELOG
Changelog for package autoware_gyro_odometer
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)
- feat!: move diagnostics_module from localization_util to
unverse_utils
(#9714)
- feat!: move diagnostics_module from localization_util to unverse_utils
- remove diagnostics module from localization_util
- style(pre-commit): autofix
- minor fix in pose_initializer
- add test
- style(pre-commit): autofix
- remove unnecessary declaration
- module -> interface
- remove unnecessary equal expression
- revert the remove of template function
- style(pre-commit): autofix
- use overload instead
* include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, kminoda
0.40.0 (2024-12-12)
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util
- refactor(gyro_odometer)!: prefix package and namespace with
autoware
(#8340)
- add autoware_ prefix
- add missing header
- use target_include_directories instead
* add autoware_ prefix ---------
- Contributors: Masaki Baba, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| fmt |
Dependant Packages
| Name | Deps |
|---|---|
| tier4_localization_launch |
Launch files
- launch/gyro_odometer.launch.xml
-
- input_vehicle_twist_with_covariance_topic [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
- input_imu_topic [default: /sensing/imu/imu_data]
- output_twist_raw_topic [default: gyro_twist_raw]
- output_twist_with_covariance_raw_topic [default: gyro_twist_with_covariance_raw]
- output_twist_topic [default: gyro_twist]
- output_twist_with_covariance_topic [default: gyro_twist_with_covariance]
- config_file [default: $(find-pkg-share autoware_gyro_odometer)/config/gyro_odometer.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_gyro_odometer at Robotics Stack Exchange
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