feat: added raw twist in gyro_odometer

[kminoda]

Signed-off-by: kminoda koji.minoda@tier4.jp

Description

Modified gyro_odometer so that the node outputs raw twist data.

The current version only outputs twist data with a zero-mask function which converts twist.angular to 0 when the vehicle is stopped.
By additionally publishing the raw twist data, we can estimate gyroscope bias in a more simple and stable fashion.

Tests performed

Run logging_simulator.launch.xml with my rosbag and confirmed the following points:

• All the estimation works fine
• gyro_odometer outputs /localization/twist_estimator/twist_with_covariance_raw, which has non-zero value even when the vehicle is stopped

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #676 (8870b15) into main (dc682e6) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #676      +/-   ##
==========================================
- Coverage   10.59%   10.59%   -0.01%     
==========================================
  Files         734      734              
  Lines       51719    51761      +42     
  Branches     6596     6596              
==========================================
  Hits         5482     5482              
- Misses      41777    41819      +42     
  Partials     4460     4460              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.59% <0.00%> (+<0.01%)	⬆️	Carriedforward from 7548ac2

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...alization/gyro_odometer/src/gyro_odometer_core.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.00% <0.00%> (ø)
...r/src/freespace_planner/freespace_planner_node.cpp	0.00% <0.00%> (ø)

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update dc682e6...8870b15. Read the comment docs.

[yukkysaito]

@kminoda @YamatoAndo Currently, bias estimation seems to be done by the calibration tool, but can it be estimated online?
If not, then it appears that bias estimation needs to be done inside gyro odometor. If so, is this topic necessary?

[kminoda]

@yukkysaito (cc: @YamatoAndo )
Thank you for the comment.

Currently, we only have an offline estimation tool, but we do have a plan to develop and release an online yaw rate bias estimation function. The following figure is one possible architecture, which can also make use of the twist_raw proposed in this PR. (just one of the several possible architectures)

Although the goal of this PR at this moment is an offline estimation using calibration_tools, we also have the above online estimation architecture in our mind.