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