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twist2accel package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

API Docs
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Package Summary

Tags No category tags.
Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
Dev Status UNKNOWN
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 acceleration estimation package

Additional Links

No additional links.

Maintainers

  • Koji Minoda
  • Yamato Ando

Authors

  • Koji Minoda
autoware_localization/twist2accel/README.md

twist2accel

Purpose

This package is responsible for estimating acceleration using the output of ekf_localizer. It uses lowpass filter to mitigate the noise.

Inputs / Outputs

Input

Name Type Description
input/odom nav_msgs::msg::Odometry localization odometry
input/twist geometry_msgs::msg::TwistWithCovarianceStamped twist

Output

Name Type Description
output/accel geometry_msgs::msg::AccelWithCovarianceStamped estimated acceleration

Parameters

Name Type Description
use_odom bool use odometry if true, else use twist input (default: true)
accel_lowpass_gain double lowpass gain for lowpass filter in estimating acceleration (default: 0.9)

Future work

Future work includes integrating acceleration into the EKF state.

CHANGELOG
No CHANGELOG found.

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.

Launch files

  • launch/autoware_twist2accel.launch.xml
      • use_odom [default: true]
      • accel_lowpass_gain [default: 0.9]
      • in_odom [default: in_odom]
      • in_twist [default: in_twist]
      • out_accel [default: out_accel]
  • launch/twist2accel.launch.xml
      • use_odom [default: true]
      • accel_lowpass_gain [default: 0.9]
      • in_odom [default: in_odom]
      • in_twist [default: in_twist]
      • out_accel [default: out_accel]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged twist2accel at Robotics Stack Exchange

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