Merge branch 'main' into feature/parallel_ndt_build

Author: anhnv3991

.github/CODEOWNERS

@@ -1,5 +1,3 @@
-### Copied from .github/CODEOWNERS-manual ###
-
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -23,6 +21,7 @@ common/goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/grid_map_utils/** maxime.clement@tier4.jp
 common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
+common/mission_planner_rviz_plugin/** isamu.takagi@tier4.jp
 common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/object_recognition_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
@@ -32,7 +31,7 @@ common/polar_grid/** yukihiro.saito@tier4.jp
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-common/tensorrt_common/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
+common/tensorrt_common/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
 common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
@@ -55,7 +54,7 @@ common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp
 common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp
 common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
-common/traffic_light_utils/** mingyu.li@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
+common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 control/autonomous_emergency_braking/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -76,6 +75,7 @@ control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp
 evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp
+evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp
 evaluator/tier4_metrics_rviz_plugin/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
@@ -118,9 +118,9 @@ perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihir
 perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
 perception/crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp
-perception/detected_object_validation/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
-perception/detection_by_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp taichi.higashide@tier4.jp
+perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
+perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp
 perception/euclidean_cluster/** yukihiro.saito@tier4.jp
 perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
@@ -130,26 +130,26 @@ perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp
 perception/map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
-perception/multi_object_tracker/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_range_splitter/** yukihiro.saito@tier4.jp
 perception/object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-perception/radar_object_tracker/** satoshi.tanaka@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
-perception/tensorrt_classifier/** mingyu.li@tier4.jp
-perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
-perception/tracking_object_merger/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
+perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
+perception/tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
 perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
-perception/traffic_light_fine_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
-perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp
+perception/traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
+perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/traffic_light_visualization/** yukihiro.saito@tier4.jp
@@ -186,7 +186,7 @@ planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp
 planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp
 planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
 planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -217,7 +217,7 @@ sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier
 sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-sensing/tier4_pcl_extensions/** ryu.yamamoto@tier4.jp
+sensing/tier4_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp
 simulator/fault_injection/** keisuke.shima@tier4.jp
@@ -232,10 +232,12 @@ system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.j
 system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
 system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
-system/duplicated_node_checker/** shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
+system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
 system/emergency_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp
+system/hazard_status_converter/** isamu.takagi@tier4.jp
 system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
 system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
+system/mrm_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/system_error_monitor/** fumihito.ito@tier4.jp
 system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp
@@ -245,3 +247,5 @@ vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp
 vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
 vehicle/steer_offset_estimator/** taiki.tanaka@tier4.jp
 vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
+
+### Copied from .github/CODEOWNERS-manual ###

.github/workflows/build-and-test-differential.yaml

@@ -73,38 +73,3 @@ jobs:
 
       - name: Check disk space after build
         run: df -h
-
-  clang-tidy-differential:
-    runs-on: [self-hosted, linux, X64]
-    container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

.github/workflows/json-schema-check.yaml

@@ -2,17 +2,38 @@ name: json-schema-check
 
 on:
   pull_request:
-    paths:
-      - "**/schema/*.schema.json"
-      - "**/config/*.param.yaml"
   workflow_dispatch:
 
 jobs:
+  check-if-relevant-files-changed:
+    runs-on: ubuntu-latest
+    outputs:
+      run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: dorny/paths-filter@v3
+        id: paths_filter
+        with:
+          filters: |
+            json_or_yaml:
+              - '**/schema/*.schema.json'
+              - '**/config/*.param.yaml'
+
   json-schema-check:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
       - name: Run json-schema-check
         uses: autowarefoundation/autoware-github-actions/json-schema-check@v1
+
+  no-relevant-changes:
+    needs: check-if-relevant-files-changed
+    if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dummy step
+        run: echo "No relevant changes, passing check"

README.md

@@ -1,7 +1,16 @@
-# autoware.universe
+# Autoware Universe
 
-For Autoware's general documentation, see [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/).
+## Welcome to Autoware Universe
 
-For detailed documents of Autoware Universe components, see [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/).
+Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.
+This repository is a pivotal element of the Autoware Core/Universe concept, managing a wide array of packages that significantly extend the capabilities of autonomous vehicles.
 
----
+![autoware_universe_front](docs/assets/images/autoware_universe_front.png)
+
+## Getting Started
+
+To dive into the vast world of Autoware and understand how Autoware Universe fits into the bigger picture, we recommend starting with the [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/). This resource provides a thorough overview of the Autoware ecosystem, guiding you through its components, functionalities, and how to get started with development.
+
+### Explore Autoware Universe documentation
+
+For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/), deployed with MKDocs, offers detailed insights.

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml

@@ -23,7 +23,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

common/tensorrt_common/package.xml

@@ -6,7 +6,6 @@
 
   <author email="taichi.higashide@tier4.jp">Taichi Higashide</author>
   <author email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</author>
-  <maintainer email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</maintainer>
   <maintainer email="dan.umeda@tier4.jp">Dan Umeda</maintainer>
   <maintainer email="manato.hirabayashi@tier4.jp">Manato Hirabayashi</maintainer>
 

common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp

@@ -30,14 +30,6 @@ using std::placeholders::_1;
 namespace rviz_plugins
 {
 
-double lowpassFilter(
-  const double current_value, const double prev_value, double cutoff, const double dt)
-{
-  const double tau = 1.0 / (2.0 * M_PI * cutoff);
-  const double a = tau / (dt + tau);
-  return prev_value * a + (1.0 - a) * current_value;
-}
-
 ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent)
 {
   auto * state_layout = new QHBoxLayout;
@@ -115,25 +107,23 @@ void ManualController::update()
     ackermann.stamp = raw_node_->get_clock()->now();
     ackermann.lateral.steering_tire_angle = steering_angle_;
     ackermann.longitudinal.speed = cruise_velocity_;
-    if (current_acceleration_) {
-      /**
-       * @brief Calculate desired acceleration by simple BackSteppingControl
-       *  V = 0.5*(v-v_des)^2 >= 0
-       *  D[V] = (D[v] - a_des)*(v-v_des) <=0
-       *  a_des = k_const *(v - v_des) + a (k < 0 )
-       */
-      const double k = -0.5;
-      const double v = current_velocity_;
-      const double v_des = cruise_velocity_;
-      const double a = *current_acceleration_;
-      const double a_des = k * (v - v_des) + a;
-      ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
-    }
+    /**
+     * @brief Calculate desired acceleration by simple BackSteppingControl
+     *  V = 0.5*(v-v_des)^2 >= 0
+     *  D[V] = (D[v] - a_des)*(v-v_des) <=0
+     *  a_des = k_const *(v - v_des) + a (k < 0 )
+     */
+    const double k = -0.5;
+    const double v = current_velocity_;
+    const double v_des = cruise_velocity_;
+    const double a = current_acceleration_;
+    const double a_des = k * (v - v_des) + a;
+    ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
   }
   GearCommand gear_cmd;
   {
     const double eps = 0.001;
-    if (ackermann.longitudinal.speed > eps) {
+    if (ackermann.longitudinal.speed > eps && current_velocity_ > -eps) {
       gear_cmd.command = GearCommand::DRIVE;
     } else if (ackermann.longitudinal.speed < -eps && current_velocity_ < eps) {
       gear_cmd.command = GearCommand::REVERSE;
@@ -220,19 +210,11 @@ void ManualController::onEngageStatus(const Engage::ConstSharedPtr msg)
 void ManualController::onVelocity(const VelocityReport::ConstSharedPtr msg)
 {
   current_velocity_ = msg->longitudinal_velocity;
-  if (previous_velocity_) {
-    const double cutoff = 10.0;
-    const double dt = 1.0 / 10.0;
-    const double acc = (current_velocity_ - *previous_velocity_) / dt;
-    if (!current_acceleration_) {
-      current_acceleration_ = std::make_unique<double>(acc);
-    } else {
-      current_acceleration_ =
-        std::make_unique<double>(lowpassFilter(acc, *current_acceleration_, cutoff, dt));
-    }
-  }
-  previous_velocity_ = std::make_unique<double>(msg->longitudinal_velocity);
-  prev_stamp_ = rclcpp::Time(msg->header.stamp);
+}
+
+void ManualController::onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg)
+{
+  current_acceleration_ = msg->accel.accel.linear.x;
 }
 
 void ManualController::onGear(const GearReport::ConstSharedPtr msg)