From 87f8dda310b5efe6f67f9d33686323f10cbd359d Mon Sep 17 00:00:00 2001
From: h-ohta <hiroki.ota@tier4.jp>
Date: Thu, 15 Feb 2024 14:58:59 +0900
Subject: [PATCH] feat: add imu_monitor and dummy diag

---
 .../config/dummy_diag_publisher/sensor_kit.param.yaml         | 3 +++
 aip_x2_launch/launch/imu.launch.xml                           | 4 ++++
 2 files changed, 7 insertions(+)

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
index 8865be67..ed8141a2 100644
--- 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
index 432316cb..ef2628b3 100644
--- 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>