Distribute gyro_bias_estimator.param.yaml to each aip_x1_launch, aip_…

…x2_launch and aip_xx1_launch. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
tier4 · Apr 16, 2024 · 402f41b · 402f41b
1 parent b051eff
commit 402f41b
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Showing 6 changed files with 16 additions and 4 deletions.
diff --git a/...nch/config/gyro_bias_estimator.param.yaml → ...nch/config/gyro_bias_estimator.param.yaml b/...nch/config/gyro_bias_estimator.param.yaml → ...nch/config/gyro_bias_estimator.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    gyro_bias_threshold: 0.003 # [rad/s]
+    gyro_bias_threshold: 0.008 # [rad/s]
     timer_callback_interval_sec: 0.5 # [sec]
     diagnostics_updater_interval_sec: 0.5 # [sec]
     straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
@@ -14,7 +14,7 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share common_sensor_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>

diff --git a/aip_x2_launch/config/gyro_bias_estimator.param.yaml b/aip_x2_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gyro_bias_threshold: 0.008 # [rad/s]
+    timer_callback_interval_sec: 0.5 # [sec]
+    diagnostics_updater_interval_sec: 0.5 # [sec]
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
@@ -29,7 +29,7 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share common_sensor_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x2_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>

diff --git a/aip_xx1_launch/config/gyro_bias_estimator.param.yaml b/aip_xx1_launch/config/gyro_bias_estimator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    gyro_bias_threshold: 0.008 # [rad/s]
+    timer_callback_interval_sec: 0.5 # [sec]
+    diagnostics_updater_interval_sec: 0.5 # [sec]
+    straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
@@ -23,7 +23,7 @@
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share common_sensor_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>