From 82d23170e851e080754f569100a93088c3c048e1 Mon Sep 17 00:00:00 2001
From: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
Date: Tue, 27 Aug 2024 08:11:36 +0900
Subject: [PATCH 1/2] chore: part of the refactor if imu_corrector into the
 autoware namespace (#273)

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>
---
 aip_x1_launch/launch/imu.launch.xml       | 4 ++--
 aip_x1_launch/package.xml                 | 2 +-
 aip_x2_launch/launch/imu.launch.xml       | 4 ++--
 aip_x2_launch/package.xml                 | 2 +-
 aip_xx1_gen2_launch/launch/imu.launch.xml | 4 ++--
 aip_xx1_gen2_launch/package.xml           | 2 +-
 aip_xx1_launch/launch/imu.launch.xml      | 4 ++--
 aip_xx1_launch/package.xml                | 2 +-
 8 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index bf00b7ca..9579dd64 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -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)"/>
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index fbe8aa5a..aa8cee36 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -10,9 +10,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
-  <exec_depend>imu_corrector</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index e3f1a056..f8256139 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -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)"/>
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 2d8dfa40..d7c78992 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -10,12 +10,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_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>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
index 04011706..6e835316 100644
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -37,7 +37,7 @@
     <!-- 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)"/>
@@ -45,7 +45,7 @@
 
     <!-- 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)"/>
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 99266c70..e02e5ea3 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -10,13 +10,13 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_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>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index 85b620d7..321747c9 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -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)"/>
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 94462318..b4c5919e 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -10,11 +10,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</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>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>

From f276dc80328217847ce6d62fb6a4dab6bd4af4a1 Mon Sep 17 00:00:00 2001
From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com>
Date: Thu, 29 Aug 2024 16:53:25 +0900
Subject: [PATCH 2/2] chore(gnss_launch): added autoware prefix to gnss_poser
 (#283)

Added autoware prefix to gnss_poser

Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
---
 aip_x1_launch/launch/gnss.launch.xml       | 2 +-
 aip_x1_launch/package.xml                  | 2 +-
 aip_x2_launch/launch/gnss.launch.xml       | 2 +-
 aip_x2_launch/package.xml                  | 2 +-
 aip_xx1_gen2_launch/launch/gnss.launch.xml | 2 +-
 aip_xx1_gen2_launch/package.xml            | 2 +-
 aip_xx1_launch/launch/gnss.launch.xml      | 2 +-
 aip_xx1_launch/package.xml                 | 2 +-
 8 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml
index 26b0de4c..c99d0afb 100644
--- a/aip_x1_launch/launch/gnss.launch.xml
+++ b/aip_x1_launch/launch/gnss.launch.xml
@@ -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" />
 
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index aa8cee36..84e7ee19 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -10,9 +10,9 @@
 
   <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>gnss_poser</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml
index edcbda19..13d4aefd 100644
--- a/aip_x2_launch/launch/gnss.launch.xml
+++ b/aip_x2_launch/launch/gnss.launch.xml
@@ -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" />
 
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index d7c78992..1bcc5b50 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -10,12 +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>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml
index 37ad6bde..f035b3aa 100644
--- a/aip_xx1_gen2_launch/launch/gnss.launch.xml
+++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml
@@ -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)" />
 
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index e02e5ea3..b37d8f0b 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -10,13 +10,13 @@
 
   <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>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
diff --git a/aip_xx1_launch/launch/gnss.launch.xml b/aip_xx1_launch/launch/gnss.launch.xml
index 37ad6bde..f035b3aa 100644
--- a/aip_xx1_launch/launch/gnss.launch.xml
+++ b/aip_xx1_launch/launch/gnss.launch.xml
@@ -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)" />
 
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index b4c5919e..0b5b5be9 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -10,11 +10,11 @@
 
   <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>common_sensor_launch</exec_depend>
   <exec_depend>glog_component</exec_depend>
-  <exec_depend>gnss_poser</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>