Added gyro_bias_estimator

Signed-off-by: Shintaro Sakoda <[email protected]>
tier4 · Oct 13, 2023 · 3380fd6 · 3380fd6
1 parent 27992fe
commit 3380fd6
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/awsim_sensor_kit_launch/launch/imu.launch.xml b/awsim_sensor_kit_launch/launch/imu.launch.xml
@@ -7,5 +7,12 @@
       <!-- We are using default node values -->
       <!-- <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/awsim_sensor_kit/imu_corrector.param.yaml"/> -->
     </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="tamagawa/imu_raw"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
+      <!-- We are using default node values -->
+      <!-- <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/awsim_sensor_kit/imu_corrector.param.yaml"/> -->
+    </include>
   </group>
 </launch>