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 |
| Name | Type | Description |
|---|---|---|
output/accel |
geometry_msgs::msg::AccelWithCovarianceStamped |
estimated acceleration |
{{ json_to_markdown("localization/autoware_twist2accel/schema/twist2accel.schema.json") }}
Future work includes integrating acceleration into the EKF state.