twist2accel
Purpose
This package is responsible for estimating acceleration using the output of ekf_localizer. It uses lowpass filter to mitigate the noise.
| 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 |
use_odom |
bool |
use odometry if true, else use twist input (default: true) |
accel_lowpass_gain |
double |
lowpass gain for lowpass filter in estimating acceleration (default: 0.9) |
Future work
Future work includes integrating acceleration into the EKF state.