From d37452e9eb331096339107c49bc354299d955c3c Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Mon, 23 Oct 2023 14:54:55 +0900
Subject: [PATCH] Fixed gyro_bias_estimator input

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 sample_sensor_kit_launch/launch/imu.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sample_sensor_kit_launch/launch/imu.launch.xml b/sample_sensor_kit_launch/launch/imu.launch.xml
index 976b563c..ff01fa85 100644
--- a/sample_sensor_kit_launch/launch/imu.launch.xml
+++ b/sample_sensor_kit_launch/launch/imu.launch.xml
@@ -23,7 +23,7 @@
 
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
-      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
+      <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>