fix(test): add teat_autoware module (ekf_localizer)#689

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nokosaaan wants to merge 56 commits into

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nokosaaan commented May 8, 2026 •

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Description

I added the ekf_localizer module.
I have ported the Autoware test case to Rust code.
Although there were multiple test cases for ekf_localizer, I believe that porting test_covariance.cpp alone is sufficient for dead reckoning in MRM. If it becomes necessary to add other test cases, I will consider implementing them as well.

Related links

https://github.com/autowarefoundation/autoware_core/tree/main/localization/autoware_ekf_localizer/test

How was this PR tested?

ekf_localizer.txt

Notes for reviewers

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

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>

nokosaaan and others added 19 commits

April 20, 2026 19:11


          fix: apply cargo fmt 2

ea58e98

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


          fix: apply cargo fmt 3

2b2e9c2

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


          Update applications/tests/test_autoware/imu_driver/src/lib.rs

6e58978

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>


          Update applications/tests/test_autoware/Cargo.toml

bc9d7f0

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>


          fix(imu_driver): validate full $TSC,BIN header in parser

18d7be9

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/2a6ef5c8-5491-440d-bebf-6968b2fa5827

Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>


          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>


          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>


          add: imu_corrector with test case

d58e6a3

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


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

8c9fd5d

…rector


          fix: delete dependics on imu_corrector to satisfy simple test

1b97cf0

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


          fix: apply copilot comment 1

11537c0

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


          fix: apply copilot comment 2

6d82977

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


          fix: apply cargo fmt 4

3c2f6c0

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


          Update applications/tests/test_autoware/imu_corrector/src/lib.rs

85f26ac

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>


          add: gyro_odometer with test case

20f95f4

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


          add: ekf_localizer with test case

d834725

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

github-actions Bot assigned nokosaaan

nokosaaan changed the title ~~Ekf localizer~~ fix(test): add teat_autoware module (gyro_odometer)

nokosaaan changed the title ~~fix(test): add teat_autoware module (gyro_odometer)~~ fix(test): add teat_autoware module (ekf_localizer)

nokosaaan marked this pull request as ready for review

May 11, 2026 00:59

nokosaaan added 4 commits

May 11, 2026 10:20


          fix: dependics path 2

6f21fd2

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


          fix: move autoware position 3

04592a3

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


          fix: comment 3

b6d22bb

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


          fix: comment 4

308bb35

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

Contributor

kobayu858 commented May 15, 2026 •

edited

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This PR will be reviewed after #688 is merged.

kobayu858 marked this pull request as draft

May 15, 2026 07:43

kobayu858 mentioned this pull request

fix(test): add teat_autoware module (lib.rs) #690

Draft

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