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.