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chore: sync "add-XT32-model_sync_main" and "tier4/universe" #308

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chore: sync "add-XT32-model_sync_main" and "tier4/universe" #308

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e296156
chore: changed the maintainers of common_sensor_launch (#250)
knzo25 Jul 3, 2024
40322e3
feat(common_sensor_launch): add distortion corrector param (#247)
vividf Jul 3, 2024
4fb8e66
fix(common_sensor_launch): change vlp16 param (#251)
zusizusi Jul 9, 2024
25cadb3
chore: remapped topics for the point type migration (#248)
knzo25 Jul 9, 2024
7e83222
refactor!: pointcloud_preprocessor prefix package and namespace with …
amadeuszsz Jul 22, 2024
fd3cb5b
chore(aip_x1_launch): update compare_map_segmentation prefix (#259)
badai-nguyen Jul 24, 2024
a241c3f
refactor(aip_x1_launch): remove_unneccesary_depend (#266)
badai-nguyen Jul 24, 2024
c54bd91
refactor(common_sensor_launch, aip_x2_launch, aip_xx1_gen2_launch): r…
technolojin Jul 25, 2024
d182115
chore(gnss_launch): added autoware prefix to gnss_poser (#277)
TaikiYamada4 Aug 2, 2024
f091e0b
revert(gnss_launch): revert PR of added autoware prefix to gnss_poser…
kyoichi-sugahara Aug 3, 2024
82d2317
chore: part of the refactor if imu_corrector into the autoware namesp…
knzo25 Aug 26, 2024
f276dc8
chore(gnss_launch): added autoware prefix to gnss_poser (#283)
TaikiYamada4 Aug 29, 2024
d068213
fix: add default missing params (#285)
badai-nguyen Sep 11, 2024
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2 changes: 1 addition & 1 deletion aip_x1_launch/launch/gnss.launch.xml
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Expand Up @@ -13,7 +13,7 @@
</node>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="ublox/nav_sat_fix" />
<arg name="input_topic_navpvt" value="ublox/navpvt" />

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4 changes: 2 additions & 2 deletions aip_x1_launch/launch/imu.launch.xml
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Expand Up @@ -8,14 +8,14 @@

<arg name="imu_raw_name" default="/sensing/lidar/front_center/livox/imu"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<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">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
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4 changes: 2 additions & 2 deletions aip_x1_launch/launch/new_livox_horizon.launch.py
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Expand Up @@ -47,8 +47,8 @@ def get_livox_tag_filter_component():
def get_crop_box_min_range_component(context, livox_frame_id):
use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
crop_box_min_range_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_min_range",
remappings=[
("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
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4 changes: 2 additions & 2 deletions aip_x1_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -26,8 +26,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
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12 changes: 6 additions & 6 deletions aip_x1_launch/launch/velodyne_node_container.launch.py
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Expand Up @@ -94,8 +94,8 @@ def create_parameter_dict(*args):

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -108,8 +108,8 @@ def create_parameter_dict(*args):

nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand All @@ -130,8 +130,8 @@ def create_parameter_dict(*args):
} # keep the output frame as the input frame
nodes.append(
ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
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7 changes: 3 additions & 4 deletions aip_x1_launch/package.xml
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Expand Up @@ -10,10 +10,9 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>compare_map_segmentation</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_gnss_poser</exec_depend>
<exec_depend>autoware_imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>ublox_gps</exec_depend>
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3 changes: 3 additions & 0 deletions aip_x2_launch/config/dual_return_filter.param.yaml
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Expand Up @@ -4,6 +4,9 @@
weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
visibility_error_threshold: 0.5
visibility_warn_threshold: 0.9
weak_first_distance_ratio: 1.004
general_distance_ratio: 1.03
max_azimuth_diff: 50.0
max_distance: 5.0
x_max: 18.0
x_min: -12.0
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2 changes: 1 addition & 1 deletion aip_x2_launch/launch/gnss.launch.xml
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Expand Up @@ -14,7 +14,7 @@
</node>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="septentrio/nav_sat_fix" />
<arg name="input_topic_navpvt" value="septentrio/navpvt/unused" />

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4 changes: 2 additions & 2 deletions aip_x2_launch/launch/imu.launch.xml
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Expand Up @@ -23,14 +23,14 @@

<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<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">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
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28 changes: 14 additions & 14 deletions aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -136,8 +136,8 @@ def create_parameter_dict(*args):
cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]

self_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_self",
remappings=[
("input", "pointcloud_raw_ex"),
Expand All @@ -159,8 +159,8 @@ def create_parameter_dict(*args):
)

right_mirror_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror_right",
remappings=[
("input", "self_cropped/pointcloud_ex"),
Expand All @@ -181,8 +181,8 @@ def create_parameter_dict(*args):
)

left_mirror_crop_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
name="crop_box_filter_mirror_left",
remappings=[
("input", "right_mirror_cropped/pointcloud_ex"),
Expand All @@ -193,8 +193,8 @@ def create_parameter_dict(*args):
)

undistort_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
name="distortion_corrector_node",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand All @@ -214,8 +214,8 @@ def create_parameter_dict(*args):
"output_frame": ""
} # keep the output frame as the input frame
ring_outlier_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
name="ring_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -226,8 +226,8 @@ def create_parameter_dict(*args):
)

dual_return_filter_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
name="dual_return_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
Expand All @@ -246,8 +246,8 @@ def create_parameter_dict(*args):

distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
blockage_diag_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::BlockageDiagComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
name="blockage_return_diag",
remappings=[
("input", "pointcloud_raw_ex"),
Expand Down
4 changes: 2 additions & 2 deletions aip_x2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
2 changes: 1 addition & 1 deletion aip_x2_launch/launch/radar.launch.xml
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Expand Up @@ -59,7 +59,7 @@
</include>
</group>

<include file="$(find-pkg-share simple_object_merger)/launch/simple_object_merger.launch.xml">
<include file="$(find-pkg-share autoware_simple_object_merger)/launch/simple_object_merger.launch.xml">
<arg name="output/objects" value="detected_objects"/>
<arg name="param_path" value="$(find-pkg-share aip_x2_launch)/config/simple_object_merger.param.yaml"/>
</include>
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7 changes: 4 additions & 3 deletions aip_x2_launch/package.xml
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Expand Up @@ -10,11 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_gnss_poser</exec_depend>
<exec_depend>autoware_imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_simple_object_merger</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>dummy_diag_publisher</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>septentrio_gnss_driver</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
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2 changes: 1 addition & 1 deletion aip_xx1_gen2_launch/launch/gnss.launch.xml
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Expand Up @@ -26,7 +26,7 @@
</group>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
<arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />

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4 changes: 2 additions & 2 deletions aip_xx1_gen2_launch/launch/imu.launch.xml
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Expand Up @@ -37,15 +37,15 @@
<!-- IMU Correction launch-->
<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<!-- Gyro Bias Estimator-->
<arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_gen2_launch)/config/gyro_bias_estimator.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
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4 changes: 2 additions & 2 deletions aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
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Expand Up @@ -27,8 +27,8 @@
def launch_setup(context, *args, **kwargs):
# set concat filter as a component
concat_component = ComposableNode(
package="pointcloud_preprocessor",
plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
Expand Down
14 changes: 7 additions & 7 deletions aip_xx1_gen2_launch/launch/radar.launch.xml
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Expand Up @@ -56,7 +56,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -88,7 +88,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -120,7 +120,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -152,7 +152,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -184,7 +184,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand Down Expand Up @@ -216,7 +216,7 @@
<arg name="new_plug_orientation" value="0"/>
</include>

<include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
<arg name="input/radar_objects" value="objects_raw"/>
<arg name="input/odometry" value="$(var odometry_topic)"/>
<arg name="output/radar_detected_objects" value="detected_objects"/>
Expand All @@ -227,7 +227,7 @@

<!-- merge radar objects -->
<let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
<node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<node pkg="autoware_simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
<remap from="~/output/objects" to="detected_objects"/>
<param from="$(var merger_param_path)"/>
</node>
Expand Down
8 changes: 5 additions & 3 deletions aip_xx1_gen2_launch/package.xml
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Expand Up @@ -10,12 +10,14 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_gnss_poser</exec_depend>
<exec_depend>autoware_imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
<exec_depend>autoware_simple_object_merger</exec_depend>
<exec_depend>common_sensor_launch</exec_depend>
<exec_depend>glog_component</exec_depend>
<exec_depend>gnss_poser</exec_depend>
<exec_depend>imu_corrector</exec_depend>
<exec_depend>pacmod3</exec_depend>
<exec_depend>pointcloud_preprocessor</exec_depend>
<exec_depend>ros2_socketcan</exec_depend>
<exec_depend>tamagawa_imu_driver</exec_depend>
<exec_depend>topic_tools</exec_depend>
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2 changes: 1 addition & 1 deletion aip_xx1_launch/launch/gnss.launch.xml
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Expand Up @@ -26,7 +26,7 @@
</group>

<!-- NavSatFix to MGRS Pose -->
<include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
<include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
<arg name="input_topic_fix" value="$(var navsatfix_topic_name)" />
<arg name="input_topic_navpvt" value="$(var navpvt_topic_name)" />

Expand Down
4 changes: 2 additions & 2 deletions aip_xx1_launch/launch/imu.launch.xml
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Expand Up @@ -17,14 +17,14 @@

<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
<arg name="input_topic" value="$(var imu_raw_name)"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<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">
<include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
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