From d70bfe8ebff6b799c9d6f9ae7f40e6af72daefe2 Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Tue, 5 Dec 2023 13:49:31 +0530
Subject: [PATCH 1/3] sensing-imu-corrector

Signed-off-by: karishma <karishma@interpl.ai>
---
 .../imu_corrector/schema/imu_corrector.json   | 61 +++++++++++++++++++
 1 file changed, 61 insertions(+)
 create mode 100644 sensing/imu_corrector/schema/imu_corrector.json

diff --git a/sensing/imu_corrector/schema/imu_corrector.json b/sensing/imu_corrector/schema/imu_corrector.json
new file mode 100644
index 0000000000000..907248a26d368
--- /dev/null
+++ b/sensing/imu_corrector/schema/imu_corrector.json
@@ -0,0 +1,61 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for imu_corrector",
+  "type": "object",
+  "definitions": {
+    "velodyne_monitor": {
+      "type": "object",
+      "properties": {
+        "angular_velocity_offset_x": {
+          "type": "number",
+          "description": "roll rate offset in imu_link [rad/s]."
+        },
+        "angular_velocity_offset_y": {
+          "type": "number",
+          "description": "itch rate offset imu_link [rad/s]."
+        },
+        "angular_velocity_offset_z": {
+          "type": "number",
+          "description": "yaw rate offset imu_link [rad/s]."
+        },
+        "angular_velocity_stddev_xx": {
+          "type": "number",
+          "description": "roll rate standard deviation imu_link [rad/s]."
+        },
+        "angular_velocity_stddev_yy": {
+          "type": "number",
+          "description": "pitch rate standard deviation imu_link [rad/s]."
+        },
+        "angular_velocity_stddev_zz": {
+          "type": "number",
+          "description": "yaw rate standard deviation imu_link [rad/s]."
+        },
+        "acceleration_stddev": {
+          "type": "number",
+          "description": "acceleration standard deviation imu_link [m/s^2]."
+        }
+      },
+      "required": [
+        "angular_velocity_offset_x",
+        "angular_velocity_offset_y",
+        "angular_velocity_offset_z",
+        "angular_velocity_stddev_xx",
+        "angular_velocity_stddev_yy",
+        "angular_velocity_stddev_zz",
+        "acceleration_stddev"
+      ]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/imu_corrector"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

From 43908d4f52a13ed305ac4a35d5fccc01fc02ff10 Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Tue, 5 Dec 2023 17:48:21 +0530
Subject: [PATCH 2/3] sensing-imu-corrector

Signed-off-by: karishma <karishma@interpl.ai>
---
 sensing/imu_corrector/schema/imu_corrector.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sensing/imu_corrector/schema/imu_corrector.json b/sensing/imu_corrector/schema/imu_corrector.json
index 907248a26d368..144669b0ec30d 100644
--- a/sensing/imu_corrector/schema/imu_corrector.json
+++ b/sensing/imu_corrector/schema/imu_corrector.json
@@ -12,7 +12,7 @@
         },
         "angular_velocity_offset_y": {
           "type": "number",
-          "description": "itch rate offset imu_link [rad/s]."
+          "description": "pitch rate offset imu_link [rad/s]."
         },
         "angular_velocity_offset_z": {
           "type": "number",

From ca683465d0c11d3a606abe72c3d8ce7d29a47969 Mon Sep 17 00:00:00 2001
From: karishma <karishma@interpl.ai>
Date: Wed, 6 Dec 2023 16:45:35 +0530
Subject: [PATCH 3/3] sensing-imu-corrector

Signed-off-by: karishma <karishma@interpl.ai>
---
 sensing/imu_corrector/schema/imu_corrector.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sensing/imu_corrector/schema/imu_corrector.json b/sensing/imu_corrector/schema/imu_corrector.json
index 144669b0ec30d..0c9679b7a9aba 100644
--- a/sensing/imu_corrector/schema/imu_corrector.json
+++ b/sensing/imu_corrector/schema/imu_corrector.json
@@ -3,7 +3,7 @@
   "title": "Parameters for imu_corrector",
   "type": "object",
   "definitions": {
-    "velodyne_monitor": {
+    "imu_corrector": {
       "type": "object",
       "properties": {
         "angular_velocity_offset_x": {