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fix: add autoware prefix to the vehicle_velocity_converter #618

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Nov 23, 2024
Merged

fix: add autoware prefix to the vehicle_velocity_converter #618

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d8fe522
add autoware prefix
a-maumau Sep 26, 2024
54a65fc
Merge branch 'main' into mau/fix/sensing/vehicle_velocity_converter
a-maumau Nov 22, 2024
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2 changes: 1 addition & 1 deletion docs/design/autoware-interfaces/components/localization.md
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ Current velocity of the ego vehicle, published by the vehicle interface.
- float lateral_velocity;
- float heading_rate;

Before the velocity input localization interface, module `vehicle_velocity_converter` converts message type `autoware_vehicle_msgs/msg/VelocityReport` to `geometry_msgs/msg/TwistWithCovarianceStamped`.
Before the velocity input localization interface, module `autoware_vehicle_velocity_converter` converts message type `autoware_vehicle_msgs/msg/VelocityReport` to `geometry_msgs/msg/TwistWithCovarianceStamped`.

## Outputs

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4 changes: 2 additions & 2 deletions ...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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Expand Up @@ -420,7 +420,7 @@ The current autoware sensing launch files design for `sensor_kit_launch` package
</figcaption>
</figure>

The `sensing.launch.xml` also launches `vehicle_velocity_converter` package
The `sensing.launch.xml` also launches `autoware_vehicle_velocity_converter` package
for converting `autoware_auto_vehicle_msgs::msg::VelocityReport` message to `geometry_msgs::msg::TwistWithCovarianceStamped` for gyro_odometer node.
So,
be sure
Expand All @@ -429,7 +429,7 @@ or you must update `input_vehicle_velocity_topic` at `sensing.launch.xml`.

```diff
...
<include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
<include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
- <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
+ <arg name="input_vehicle_velocity_topic" value="<YOUR-VELOCITY-STATUS-TOPIC>"/>
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
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2 changes: 1 addition & 1 deletion docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md
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Expand Up @@ -95,7 +95,7 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi
```

**Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information,
please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter).
please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_vehicle_velocity_converter).

## Note when using non NDT pose estimator

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