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pose2twist#

Purpose#

This pose2twist calculates the velocity from the input pose history. In addition to the computed twist, this node outputs the linear-x and angular-z components as a float message to simplify debugging.

The twist.linear.x is calculated as sqrt(dx * dx + dy * dy + dz * dz) / dt, and the values in the y and z fields are zero. The twist.angular is calculated as d_roll / dt, d_pitch / dt and d_yaw / dt for each field.

Inputs / Outputs#

Input#

Name Type Description
pose geometry_msgs::msg::PoseStamped pose source to used for the velocity calculation.

Output#

Name Type Description
twist geometry_msgs::msg::TwistStamped twist calculated from the input pose history.
linear_x tier4_debug_msgs::msg::Float32Stamped linear-x field of the output twist.
angular_z tier4_debug_msgs::msg::Float32Stamped angular-z field of the output twist.

Parameters#

none.

Assumptions / Known limits#

none.

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