Moving the vehicle-twist and IMU fusion node to the sensing module

[YamatoAndo]

I would like to move the vehicle-twist and IMU fusion node that has been in the localization module to the sensing module.
The reason is that we want to use the IMU information to correct LiDAR distortion more accurately.

Do you have any comments on this change?

• current

• proposal

[kminoda]

Thanks! I have one question.
Do you have any idea about where you will do the transformation of IMU data from imu_link to base_link?

Since we want to use IMU data expressed in base_link at least in the EKF, we need to do the conversion somewhere before that.
Currently, the transformation is done in gyro_odometer (Twist+IMU Fuser in the current arch). And, IMO, it should be done inside the sensing modules, since IMU data expressed in base_link is all you need outside of the module.

I personally think that the conversion should be done inside imu_corrector. By doing so, we can provide imu_corrector.param.yaml in base_link and not in imu_link, which means we don't have to estimate angular_velocity_offset_x or ~_y which is not necessary for the autoware.universe algorithm. (If you provide the parameters in imu_link, angular_velocity_offset_x or ~_y may affect the yawrate in base_link depending on the IMU extrinsics)

[YamatoAndo]

I am not particular about this.
However, if the transformation is done inside imu_corrector, I think there will be confusion as to whether parameters such as angular_velocity_offset_x or ~_y are in the coordinate system of imu_link or base_link.
Therefore, I think you need to write a comment in the parameter file to clarify which coordinate system it is.

[YamatoAndo]

After discussion with our internal members, we will revise our proposal as follows to address the issue of the difficulty in understanding the role of each module as an architecture.

Do you have any comments on this revised proposal?

• revised proposal

[YamatoAndo]

If there are no comments on the above proposal, we will proceed with this proposal.

@mitsudome-r @yukkysaito Are you OK?

[kminoda]

@mitsudome-r @yukkysaito Can we proceed with the above-proposed architecture?

[yukkysaito]

@kminoda @YamatoAndo Thank you! I'm OK 👍

[mitsudome-r]

@kminoda @YamatoAndo I'm okay as well.

[kminoda]

autowarefoundation/autoware.universe#1120
Done!