feat(aip_xx1_launch): enable imu in adm ecus

Signed-off-by: yuki.takagi@car_8 <[email protected]>
tier4 · Feb 28, 2024 · 3f9e267 · 3f9e267
1 parent 1bd6ef9
commit 3f9e267
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Showing 2 changed files with 16 additions and 10 deletions.
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
@@ -1,22 +1,28 @@
 <launch>
 
-  <arg name="launch_driver" default="true" />
-  <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
-
   <group>
     <push-ros-namespace namespace="imu"/>
 
+    <arg name="launch_driver" default="true" />
+    <arg name="interface" default="canImu"/>
+    <arg name="receiver_interval_sec" default="0.01"/>
+    <arg name ="vehicle_id" default="$(env VEHICLE_ID default)" />
+
     <group>
       <push-ros-namespace namespace="tamagawa"/>
-      <node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)" respawn="true" respawn_delay="10.0">
-        <remap from="imu/data_raw" to="imu_raw" />
-        <param name="port" value="/dev/imu" />
-        <param name="imu_frame_id" value="tamagawa/imu_link" />
+      <include file="$(find-pkg-share ros2_socketcan)/launch/socket_can_receiver.launch.py">
+        <arg name="interface" value="$(var interface)"/>
+        <arg name="interval_sec" value="$(var receiver_interval_sec)"/>
+      </include>
+      <node pkg="tamagawa_imu_driver" name="tag_can_driver" exec="tag_can_driver" if="$(var launch_driver)">
+        <remap from="/can/imu" to="from_can_bus"/>
+        <remap from="imu/data_raw" to="imu_raw"/>
+        <param name="imu_frame_id" value="tamagawa/imu_link"/>
       </node>
     </group>
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
-    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
+    <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -23,9 +23,9 @@
     </include> -->
 
     <!-- IMU Driver -->
-    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
-    </include> -->
+    </include>
 
     <!-- GNSS Driver -->
     <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">