autoware_pose2twist#
Purpose#
This autoware_pose2twist calculates the velocity from the input pose history. In addition to the computed twist, this node outputs the linear-x and angular-z components as a float message to simplify debugging.
The twist.linear.x is calculated as sqrt(dx * dx + dy * dy + dz * dz) / dt, and the values in the y and z fields are zero.
The twist.angular is calculated as relative_rotation_vector / dt for each field.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
| pose | geometry_msgs::msg::PoseStamped | pose source to used for the velocity calculation. |
Output#
| Name | Type | Description |
|---|---|---|
| twist | geometry_msgs::msg::TwistStamped | twist calculated from the input pose history. |
| linear_x | tier4_debug_msgs::msg::Float32Stamped | linear-x field of the output twist. |
| angular_z | tier4_debug_msgs::msg::Float32Stamped | angular-z field of the output twist. |
Parameters#
none.
Assumptions / Known limits#
none.