Ros2 v0.8.0 raw vehicle cmd converter (autowarefoundation#268)

* restore raw_vehicle_cmd_converter files for 0.8.0 update

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix typos in vehicle modules (autowarefoundation#954)

* add get func (autowarefoundation#1088)

* Revert "restore raw_vehicle_cmd_converter files for 0.8.0 update"

This reverts commit f243f26e20490757a332566aa92196553a682aa6.

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp

@@ -34,6 +34,9 @@ class AccelMap
   bool readAccelMapFromCSV(std::string csv_path);
   bool getThrottle(double acc, double vel, double & throttle);
   bool getAcceleration(double throttle, double vel, double & acc);
+  std::vector<double> getVelIdx() { return vel_index_; };
+  std::vector<double> getThrottleIdx() { return throttle_index_; };
+  std::vector<std::vector<double>> getAccelMap() { return accel_map_; };
 
 private:
   rclcpp::Logger logger_;

vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp

@@ -33,7 +33,10 @@ class BrakeMap
 
   bool readBrakeMapFromCSV(std::string csv_path);
   bool getBrake(double acc, double vel, double & brake);
-  bool getAcceleration(double throttle, double vel, double & acc);
+  bool getAcceleration(double brake, double vel, double & acc);
+  std::vector<double> getVelIdx() { return vel_index_; };
+  std::vector<double> getBrakeIdx() { return brake_index_; };
+  std::vector<std::vector<double>> getBrakeMap() { return brake_map_; };
 
 private:
   rclcpp::Logger logger_;