From 7814305b72a955b348e558186141cfec4bd5b855 Mon Sep 17 00:00:00 2001
From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Date: Fri, 18 Aug 2023 14:50:42 +0900
Subject: [PATCH] fix: ekf localizer param (#4661)

---
 .../pose_twist_fusion_filter.launch.xml                         | 2 +-
 localization/ekf_localizer/launch/ekf_localizer.launch.xml      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index 3c109769e13ba..24be8710f571b 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <group>
     <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
-      <arg name="enable_yaw_bias_estimation" value="true"/>
+      <arg name="enable_yaw_bias_estimation" value="false"/>
       <arg name="tf_rate" value="50.0"/>
       <arg name="twist_smoothing_steps" value="2"/>
       <arg name="input_initial_pose_name" value="/initialpose3d"/>
diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
index c716d58bfc00c..b4bc0a8247a35 100644
--- a/localization/ekf_localizer/launch/ekf_localizer.launch.xml
+++ b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <arg name="show_debug_info" default="false"/>
-  <arg name="enable_yaw_bias_estimation" default="True"/>
+  <arg name="enable_yaw_bias_estimation" default="true"/>
   <arg name="predict_frequency" default="50.0"/>
   <arg name="tf_rate" default="10.0"/>
   <arg name="extend_state_step" default="50"/>