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feat(imu_corrector): add gyro_bias_estimator #168

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Aug 28, 2023
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feat(imu_corrector): add gyro_bias_estimator #168

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13 changes: 10 additions & 3 deletions aip_x1_launch/launch/imu.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,19 @@
<group>
<push-ros-namespace namespace="imu"/>

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

<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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
</include>
</group>

</launch>
14 changes: 11 additions & 3 deletions aip_x2_launch/launch/imu.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,10 +21,18 @@
</node>
</group>

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

<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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
</include>
</group>

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14 changes: 11 additions & 3 deletions aip_xx1_launch/launch/imu.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,18 @@
</node>
</group>

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

<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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
</include>
</group>

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