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

Output

Parameters

{{ json_to_markdown(“localization/autoware_twist2accel/schema/twist2accel.schema.json”) }}

Future work

Future work includes integrating acceleration into the EKF state.

Changelog for package autoware_twist2accel

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(localization): add node designs for the pose/twist estimation nodes (#1409)

  * feat(localization): add node designs for the pose/twist estimation nodes Declare NdtScanMatcher, EkfLocalizer, GyroOdometer, StopFilter and Twist2Accel node designs, with remap_target set to each node's hardcoded topic and service names, and extend PoseInitializer with the map, GNSS, stop-check inputs and the align/trigger/partial-map-load clients that pose_initializer.launch.xml remaps. These let a system designer module compose the localization stack directly from nodes.

  * feat(localization): describe node designs and bump to format 0.4.0 ---------

• refactor(autoware_twist2accel): shrink characterization test (#1256)

  • refactor(autoware_twist2accel): simplify publishing procedure

  * refactor(autoware_twist2accel): shrink characterization test to simple integration test The estimation math (finite differencing, low-pass filtering, dt clamping, covariance, header/pose handling) is already covered by test_accel_estimator.cpp unit tests. Reduce the node-level test to just the Node's own routing logic: which input topic drives output/accel publishing for a given use_odom value. ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>> Co-authored-by: Tran Huu Nhat Huy <<29034232+TranHuuNhatHuy@users.noreply.github.com>>

• fix(localization): fix test to use [get_node_base_interface]{.title-ref} for [agnocast_wrapper::Node]{.title-ref} (#1209) fix test for agnocast_wrapper::Node

• Contributors: Koichi Imai, Taekjin LEE, Takahisa Ishikawa, github-actions

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(twist2accel): apply [agnocast_wrapper::Node]{.title-ref} to [twist2accel]{.title-ref} (#1189)

  • apply agnocast_wrapper::Node
  • fix to use ALLOCATE
  • fix Cmake
  • fix cpplint

  * disable test when agnocast enabled ---------

• refactor(autoware_twist2accel): arrange class interface (#1186)

  * refactor(autoware_twist2accel): encapsulate dt and previous twist in AccelEstimator AccelEstimator::estimate() now takes only the current twist sample and owns the per-call state that previously lived in the node: it holds the previous twist, derives dt from successive header stamps, and returns a ready-to-publish AccelWithCovarianceStamped with the header copied from the input. Add TwistWithCovarianceStamped and Odometry overloads that normalize to a TwistStamped and delegate, so the node callbacks can pass the raw message directly and the estimate_accel helper is no longer needed.

  * style(autoware_twist2accel): remove redundant comments ---------Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>

• refactor(autoware_twist2accel): extract pure AccelEstimator and add unit tests (#1111)

  * refactor(autoware_twist2accel): extract pure AccelEstimator and add unit tests Extract the ROS-free acceleration math (dt-clamped finite difference plus 6-channel LowpassFilter1d smoothing) out of Twist2Accel::estimate_accel into a pure, injectable AccelEstimator class, mirroring the sibling autoware_stop_filter::StopFilter pattern. estimate_accel becomes a thin wrapper that computes dt from the ROS clock, calls the estimator, fills the message, and publishes. This makes the previously untestable estimation logic exercisable without spinning a ROS node and adds gtest coverage for the no-smoothing-on-first-sample, finite-difference, low-pass smoothing, dt-clamp, channel-independence, and covariance-index branches. Behavior-preserving: the dt clamp (>= 1e-3), per-component LPF order, and the first-message zero/empty accel

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