From 9bef2cf913aa3d832176f7aa4ba78e2f3d634f44 Mon Sep 17 00:00:00 2001
From: SakodaShintaro <rgbygscrsedppbwg@gmail.com>
Date: Tue, 24 Oct 2023 14:13:31 +0900
Subject: [PATCH] feat(imu_launch): fixed gyro_bias_estimator input (#79)

Fixed gyro_bias_estimator input

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 sample_sensor_kit_launch/launch/imu.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sample_sensor_kit_launch/launch/imu.launch.xml b/sample_sensor_kit_launch/launch/imu.launch.xml
index 976b563c..ff01fa85 100644
--- a/sample_sensor_kit_launch/launch/imu.launch.xml
+++ b/sample_sensor_kit_launch/launch/imu.launch.xml
@@ -23,7 +23,7 @@
 
     <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_pose" value="/localization/pose_estimator/pose_with_covariance"/>
+      <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>