feat: add sensor noise #118
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
knorrrr
requested review from
taikitanaka3,
isamu-takagi and
yuasabe
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taikitanaka3
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
aichallenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.cpp
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aichallenge/workspace/src/aichallenge_system/aichallenge_awsim_adapter/src/sensor_converter.hpp
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…_adapter/src/sensor_converter.cpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
…_adapter/src/sensor_converter.hpp Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
This reverts commit 1fd3a86.
This was referenced Sep 27, 2024
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実機に近しいセンサーノイズを付与しました。
またgnssに関してはdelayの実装も行いました。
付与対象：
/awsim/gnss/pose: geometry_msgs/msg/PoseStamped（遅延も実装）
/awsim/gnss/pose_with_covariance: geometry_msgs/msg/PoseWithCovarianceStamped（遅延も実装）
/awsim/imu: sensor_msgs/msg/Imu
/awsim/steering_status: autoware_auto_vehicle_msgs/msg/SteeringReport