Update host vehicle data with kinematics data #679
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osi_hostvehicledata.proto
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| //\brief Current calculated and estimated acceleration, velocity and orientation rate on Inertial Measurement Unit measurements and related sensors. | ||
| // | ||
| //This message contains the most accurate information the vehicle knows about its velocity, |
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ThomasNaderBMW
approved these changes
Nov 15, 2022
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CCB 2023-01-16: To be changed as discussed (include references to bbcenter_to_rear in description of reference point for VehicleMotion, reorder fields to match derivative structure, and add comment to VehicleLocalization to indicate middle of bounding box reference point), then rediscussed for merge in next CCB. |
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Include velocity, acceleration and orientation rate data related to the vehicle coordinate system in the host_vehicle_data message Signed-off-by: Maikol Drechsler <maikol.drechsler@carissma.eu>
Move velocity, acceleration and orientation rate data to VehicleLocalization message and add current_curvature. Signed-off-by: Maikol Drechsler <maikol.drechsler@carissma.eu>
In order to have position and orientation in the same coordinate system as the velocity and the acceleration (rear axle) a new message (VehicleMotion) was included. Signed-off-by: Maikol Drechsler <maikol.drechsler@carissma.eu>
According to discussion in CCB 2023-01-16: References to bbcenter_to_rear in description of VehicleMotion were included; Fields were reorder to match derivative structure; Comment were added to VehicleLocalization to indicate the reference point. Signed-off-by: Maikol Drechsler <maikol.drechsler@carissma.eu>
Minor changes on the VehicleLocalization description Signed-off-by: Maikol Drechsler <maikol.drechsler@carissma.eu>
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Include velocity, acceleration and orientation rate data related to the vehicle coordinate system in the host_vehicle_data message
Signed-off-by: Maikol Drechsler maikol.drechsler@carissma.eu
#### Reference to a related issue in the repository
Due to the deprecation of localization and localization_rmse attributes of host_vehicle_data the velocity, acceleration and yaw_rate of the vehicle cannot be described.
The issue had been discussed per e-mail with @ThomasNaderBMW
Add a description
Include a new attribute vehicle_kinametics which include the ego velocity, orientation rate and acceleration in the host_vehicle_data.
Some questions to ask:
What is this change?
Include a new attribute, that enables the exchange of vehicle kinematics data.
What does it fix?
The data lost by the deprecation of the attributes localization and localization_rmse.
Is this a bug fix or a feature? Does it break any existing functionality or force me to update to a new version?
It is a new optional attribute, no update is forced.
How has it been tested?
It has been tested locally with a C++ implementation.
Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board:
If you can’t check all of them, please explain why.
If all boxes are checked or commented and you have achieved at least one positive review, you can assign the label ReadyForCCBReview!