where is the relative velocity converted to absolute velocity？

[saruca1784]

hello，I wanna figure out which node converts
relative velocity from sensors to absolute velocity since the control & planning modules use the absolute velocity , please give me some hints. Do lidar & radar pipeline both have this process?
Thanks~

[shulanbushangshu]

You can see this function:
geometry_msgs::msg::Vector3 RadarTracksMsgsConverterNode::compensateVelocityEgoMotion(
const geometry_msgs::msg::Vector3 & velocity_in,
const geometry_msgs::msg::Point & position_from_veh)

It is in radar_tracks_msgs_converter_node.cpp

[saruca1784]

thanks a lot, i will study these codes carefully