autoware_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 |