feat: add imu_monitor and dummy diag

tier4 · Feb 15, 2024 · 87f8dda · 87f8dda
1 parent 8eb74f3
commit 87f8dda
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 0 deletions.
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -15,6 +15,9 @@
       # gnss
       gnss: default
 
+      # imu
+      yaw_rate_status: default
+
       # lidar
       pandar_connection: default
       pandar_temperature: default

diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
@@ -34,6 +34,10 @@
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
+
+    <include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
+    </include>
   </group>
 
 </launch>