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vehicle_velocity_converter#

Purpose#

This package converts autoware_vehicle_msgs::msg::VehicleReport message to geometry_msgs::msg::TwistWithCovarianceStamped for gyro odometer node.

Inputs / Outputs#

Input#

Name Type Description
velocity_status autoware_vehicle_msgs::msg::VehicleReport vehicle velocity

Output#

Name Type Description
twist_with_covariance geometry_msgs::msg::TwistWithCovarianceStamped twist with covariance converted from VehicleReport

Parameters#

Name Type Description
speed_scale_factor double speed scale factor (ideal value is 1.0)
frame_id string frame id for output message
velocity_stddev_xx double standard deviation for vx
angular_velocity_stddev_zz double standard deviation for yaw rate