feat(imu_launch): add gyro_bias_estimator.param.yaml #232
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Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: TaikiYamada4 <[email protected]>
TaikiYamada4
changed the title
Signed-off-by: TaikiYamada4 <[email protected]>
…x2_launch and aip_xx1_launch. Signed-off-by: TaikiYamada4 <[email protected]>
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Description
Till today, the parameters of gyro_bias_estimator was called from
universe/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml, which is not reachable from the launching system.However, some values in the gyro_bias_estimator.param.yaml should be changed by product requirements.
Therefore, this PR allows the system to edit the
gyro_bias_estimator.param.yamlwithout touching the autoware.universe.Testing
The system was tested via the logging simulator of xx1 system.
I checked it by
ros2 param dumpthat the parameters are loaded from common_sensor_launch/config/ and local changes were applied if they exist.Related PRs
This PR is an alternative of #220, so #220 should be deleted when this PR is merged.