Clarify meaning of pose in *ObjectKinematics messages
Description
In the AWSG we agreed to remove the pose, since it is entirely redundant with the shape, and therefore arbitrary. The rotation and translation can both be directly applied to the coordinates of the corners of the polygon instead. It seems we forgot to implement this.
Expected behavior
We should remove the pose, but not the covariance matrix. It is probably sufficient to keep only the X, Y, θ covariances since the filter will use only these.
Definition of Done
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Pin the version of autoware_auto_msgs -
Make the change in autoware_auto_msgs -
Unpin the version and adapt code in AutowareAuto that uses these messages
Edited by Nikolai Morin