text: // Copyright 2021 TierIV
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #ifndef _VEHICLE_VELOCITY_CONVERTER_HPP_
  #define _VEHICLE_VELOCITY_CONVERTER_HPP_
  
  #include <rclcpp/rclcpp.hpp>
  
  #include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
  #include <geometry_msgs/msg/twist_stamped.hpp>
  #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
  
  #include <array>
  #include <string>
  #include <vector>
  
  class VehicleVelocityConverter : public rclcpp::Node
  {
  public:
    VehicleVelocityConverter();
    ~VehicleVelocityConverter() = default;
  
  private:
    void callbackVelocityReport(const autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr msg);
  
    rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr
      vehicle_report_sub_;
  
    rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr
      twist_with_covariance_pub_;
  
    std::string frame_id_;
    std::array<double, 36> twist_covariance_;
  };
  
  #endif
  