18.1.1
Description
The original vehicle_simulation didn't publish lateral acceleration (accel.linear.y). This PR additionally calculates and publishes it.
Background
In internal Slack thread, we are trying to analyze Autoware's lateral acceleration, but the scenario simulator didn't publish it.
References
I referenced the implementation of simple_planning_simulator
Tests
Check SIMULATION ARCHIVE files of any test case(sample).
You can find the results of autoware_control_evaluator, like:
...
"lateral_acceleration_abs/count": 599,
"lateral_acceleration_abs/description": "Absolute lateral acceleration[m/s^2]",
"lateral_acceleration_abs/max": 0.08607245110513566,
"lateral_acceleration_abs/mean": 0.012509483193040747,
"lateral_acceleration_abs/min": 0.0,
...
They were all zeros before this PR.