feat(app): add autoware module (imu_driver and vehicle_velocity_converter) by nokosaaan · Pull Request #681 · tier4/awkernel

nokosaaan · 2026-04-20T09:43:31Z

Description

I have added the imu_driver and vehicle_velocity_converter modules. While I based the test code on the implementation in Autoware, there was no test code for imu_driver, so I created test cases focused on input and output. All test cases have been verified.

How was this PR tested?

cargo test --manifest-path /path/to/module/Cargo.toml
test_imu_driver.log
test_vehicle_velocity_converter.log

Notes for reviewers

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…_dev2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…verter Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/2a6ef5c8-5491-440d-bebf-6968b2fa5827 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot · 2026-04-20T10:46:04Z

Just as a heads up, I was blocked by some firewall rules while working on your feedback. Expand below for details.

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Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

https://api.github.com/repos/tier4/awkernel_sync/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo test --manifest-path applications/tests/test_autoware/imu_driver/Cargo.toml (http block)
https://api.github.com/repos/ytakano/acpi/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo test --manifest-path applications/tests/test_autoware/imu_driver/Cargo.toml (http block)

If you need me to access, download, or install something from one of these locations, you can either:

Configure Actions setup steps to set up my environment, which run before the firewall is enabled
Add the appropriate URLs or hosts to the custom allowlist in this repository's Copilot coding agent settings (admins only)

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…imu-vehicle

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…icle

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…icle

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan added 30 commits March 17, 2026 16:59

add: test_autoware

4b34c9a

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: perf features and test_dag for sending period info

dda7c64

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: feature devision for test_autoware 1

29e5173

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: comment alignment 1

9cabca9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: module separation 1

9832297

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: revert schedtype and toml

9bac530

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

add: saveing implementation msg with period

47de021

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete kernel dependics

efb1f02

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: no period with test_autoware

b1b921b

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: reduce impl for get_period with macro

1b18749

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: reset test_dag

3c112f9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete unnecessary comments

1cfa9ed

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

5b5bcaf

fix: delete warnings 1

4e8a8c3

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete warnings 2

60d50db

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

028ca6a

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

f6e2fcf

Merge branch 'mrm_dev2' of https://github.com/tier4/awkernel into mrm…

b75b75c

…_dev2

fix: delete warnings 3

48f29f1

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: sync bootloader-fix

aed1c5c

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

sync bootloader-fix 2

f024138

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add need-get-period

78081ab

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add line break in test_autoware

bbe0c3f

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add line break in test_autoware 2

b0fd3d8

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add line break in pubsub.rs

8adae56

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge main branch

3be51e3

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: revert userland/Cargo.toml

ce34977

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

5bc111c

feat: add test_autoware and apply test code into vehicle_velocity_con…

98f9ba9

…verter Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: imu_driver test case based on tamagawa_imu_driver

a4ebd89

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

test(imu_driver): simplify invalid header test setup

8024ba1

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/2a6ef5c8-5491-440d-bebf-6968b2fa5827 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot finished work on behalf of nokosaaan April 20, 2026 10:46

nokosaaan added 4 commits April 20, 2026 21:49

fix: delete frame id mismatch

13612d5

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'imu-vehicle' of https://github.com/tier4/awkernel into …

f82b530

…imu-vehicle

fix: apply cargo fmt 2

847cc12

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: modify userland for test_autoware

73da1c5

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan changed the title ~~feat(test): add teat_autoware module (imu_driver and vehicle_velocity_converter)~~ fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter) Apr 20, 2026

nokosaaan requested a review from kobayu858 April 20, 2026 13:02

nokosaaan added 5 commits April 27, 2026 21:09

Merge branch 'main' of https://github.com/tier4/awkernel into imu-veh…

389f752

…icle

fix: move autoware position

213b142

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add members of cargo

39cded2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: dependics path

402f142

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: comment

3a28a7a

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

kobayu858 mentioned this pull request May 15, 2026

fix(app): add autoware module (imu_corrector) #687

Open

kobayu858 requested changes May 18, 2026

View reviewed changes

nokosaaan added 6 commits May 20, 2026 12:03

Merge branch 'main' of https://github.com/tier4/awkernel into imu-veh…

babe137

…icle

fix: imu masking and vehicle default method

e585e47

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete Odometry

ade299c

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: frame_id warning

9ce2146

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: apply cargo fmt 3

d937fd1

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add lisence and original file path

17a29dd

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan changed the title ~~fix(test): add teat_autoware module (imu_driver and vehicle_velocity_converter)~~ fix(app): add autoware module (imu_driver and vehicle_velocity_converter) May 20, 2026

kobayu858 reviewed May 20, 2026

View reviewed changes

Comment thread applications/autoware/vehicle_velocity_converter/src/lib.rs

Comment thread applications/autoware/vehicle_velocity_converter/src/lib.rs

nokosaaan added 2 commits May 20, 2026 13:50

fix: assert to log::warn!

d7b8049

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete default()

efe87d4

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

kobayu858 approved these changes May 20, 2026

View reviewed changes

kobayu858 changed the title ~~fix(app): add autoware module (imu_driver and vehicle_velocity_converter)~~ feat(app): add autoware module (imu_driver and vehicle_velocity_converter) May 20, 2026

nokosaaan merged commit 51445e3 into main May 20, 2026
1 check passed

nokosaaan deleted the imu-vehicle branch May 20, 2026 05:15

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feat(app): add autoware module (imu_driver and vehicle_velocity_converter)#681

feat(app): add autoware module (imu_driver and vehicle_velocity_converter)#681
nokosaaan merged 56 commits into
mainfrom
imu-vehicle

nokosaaan commented Apr 20, 2026 •

edited

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Copilot AI commented Apr 20, 2026

I tried to connect to the following addresses, but was blocked by firewall rules:

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nokosaaan commented Apr 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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How was this PR tested?

Notes for reviewers

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Copilot AI commented Apr 20, 2026

I tried to connect to the following addresses, but was blocked by firewall rules:

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nokosaaan commented Apr 20, 2026 •

edited

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