fix(autoware_lidar_centerpoint): convert object's velocity to follow …

…its definition (autowarefoundation#8980)

* fix: convert object's velocity to follow its definition in box3DToDetectedObject function

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* Update perception/autoware_lidar_centerpoint/lib/ros_utils.cpp

Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

perception/autoware_lidar_centerpoint/lib/ros_utils.cpp

@@ -68,8 +68,10 @@ void box3DToDetectedObject(
  float vel_x = box3d.vel_x;
  float vel_y = box3d.vel_y;
  geometry_msgs::msg::Twist twist;
- twist.linear.x = std::sqrt(std::pow(vel_x, 2) + std::pow(vel_y, 2));
- twist.angular.z = 2 * (std::atan2(vel_y, vel_x) - yaw);
+ twist.linear.x = std::cos(yaw) * vel_x + std::sin(yaw) * vel_y;
+ twist.linear.y = -std::sin(yaw) * vel_x + std::cos(yaw) * vel_y;
+ twist.angular.z = 0; // angular velocity is not supported
+
  obj.kinematics.twist_with_covariance.twist = twist;
  obj.kinematics.has_twist = has_twist;
  if (has_variance) {