Closed lethal233 closed 6 months ago
Orientation to heading:
apollo: quad to heading: https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgsgDMA%2BgIykEqPAC82eZADsBADlKkBkZEQBOpdplAVUAYlQAGU8YCMQA
remember: do not "+ pi/2"
Vehicle kinematic state Current pose, velocity and acceleration of ego, calculated from localization interface.
Note: Kinematic state contains pose, velocity and acceleration. In the future, pose, velocity and acceleration will not be used as output for localization.
autoware_msgs/autoware_localization_msgs/msg/KinematicState std_msgs/msg/Header header string child_frame_id geometry_msgs/PoseWithCovariance pose_with_covariance geometry_msgs/TwistWithCovariance twist_with_covariance geometry_msgs/AccelWithCovariance accel_with_covariance The message will be subscribed by the planning and control module.
https://stackoverflow.com/questions/50976281/what-do-x-y-and-z-mean-in-geometry-msgs-twist-message-in-ros