autoware_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	Default	Range
use_odom	boolean	use odometry if true, else use twist input.	1	N/A
accel_lowpass_gain	float	lowpass gain for lowpass filter in estimating acceleration.	0.9	≥0.0

Future work

Future work includes integrating acceleration into the EKF state.