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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.