fix(app): add autoware module (imu_corrector)

[nokosaaan]

Description

I added the imu_corrector module.
Basically, I added it in the same format as imu_driver and vehicle_velocity_converter, but since I could only find test code for gyro_bias_estimator and not for imu_corrector_core, I added tests to verify the correctness of the input and output as a substitute, similar to imu_driver.

Related links

https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_imu_corrector/src

How was this PR tested?

You should add the path to the Cargo.toml file you want to unit test to the members section of the workspace in the root directory's Cargo.toml (at /awkernel/Cargo.toml)
imu_corrector.log

Notes for reviewers

[Copilot]

Pull request overview

Adds a new optional test_autoware test application to the userland runtime and introduces Autoware-related test crates (including an imu_corrector implementation and unit tests) under applications/tests/test_autoware.

Changes:

• Wire a new test_autoware feature into userland and call test_autoware::run() when enabled.
• Add a new applications/tests/test_autoware crate plus subcrates for imu_driver, imu_corrector, and vehicle_velocity_converter.
• Implement unit-test-style validation for message conversions / corrections in the new subcrates.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
userland/src/lib.rs	Adds feature-gated call to test_autoware::run() from the main runtime entrypoint.
userland/Cargo.toml	Adds optional dependency + feature flag for test_autoware.
applications/tests/test_autoware/src/lib.rs	Introduces test_autoware crate entrypoint (run()), currently empty.
applications/tests/test_autoware/Cargo.toml	Defines the test_autoware crate dependencies (currently missing imu_corrector).
applications/tests/test_autoware/imu_driver/src/lib.rs	Adds imu_driver parsing/generation logic plus unit tests.
applications/tests/test_autoware/imu_driver/Cargo.toml	Declares the imu_driver crate.
applications/tests/test_autoware/imu_corrector/src/lib.rs	Adds imu_corrector logic (bias/covariance/TF handling) plus unit tests.
applications/tests/test_autoware/imu_corrector/Cargo.toml	Declares the imu_corrector crate and its dependencies.
applications/tests/test_autoware/vehicle_velocity_converter/src/lib.rs	Adds vehicle_velocity_converter conversion + covariance logic plus unit tests.
applications/tests/test_autoware/vehicle_velocity_converter/Cargo.toml	Declares the vehicle_velocity_converter crate.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

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

Warning

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: REDACTED, pid is -1 (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 -p imu_corrector (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)

[kobayu858]

This PR will be reviewed after #681 is merged.

[kobayu858]

correct_for_dynamic_bias and correct_for_scale are not implemented in this port.

Since these are present in the original C++ implementation, could you add a comment in ImuCorrectorConfig explaining why they are omitted and marking them as TODO for future support?

[nokosaaan]

I fixed it and added TODO comment.

[kobayu858]

In ImuWithCovariance::from_imu_msg, the orientation from the original IMU message is copied as-is:

orientation: imu_msg.orientation.clone(),

However, the original C++ implementation intentionally does not copy orientation into the output message after the frame transform:

sensor_msgs::msg::Imu imu_msg_base_link;
imu_msg_base_link.linear_acceleration = transform_vector3(...);
imu_msg_base_link.angular_velocity = transform_vector3(...);
// ← no assignment to orientation

Please add a comment explaining why you chose this setting.

[nokosaaan]

I added a comment.

[kobayu858]

If orientation isn't being used in the first place, wouldn't it make sense to just remove it? Is there a clear reason to keep it around? Either way, I don't think the current code will ever actually be used as-is in the future. What do you think?

[nokosaaan]

I included the orientation field in the ros_bag used for evaluation because it contained that data, and I assumed that if there was an input, that value would naturally be included in the output. However, as you pointed out, orientation is not actually included in the actual processing, so I plan to remove it as a member of the struct.

[kobayu858]

to_nalgebra_vector3, to_imu_vector3, and to_nalgebra_quaternion all perform pure type conversions without using any fields of self, so there is no need for them to be &self instance methods.
Additionally, identical implementations exist in ImuCorrector, creating a risk of the two diverging if only one is updated in the future.
Please consider refactoring — for example, by extracting these as free functions or implementing the standard From/Into traits.

[kobayu858]

Please add an implementation for the Default trait.

[kobayu858]

Please add an implementation for the Default trait.