From 2c8c8fe327ec129770db50620a3b24afd193b932 Mon Sep 17 00:00:00 2001
From: Hiroki OTA <hiroki.ota@tier4.jp>
Date: Fri, 16 Feb 2024 15:24:45 +0900
Subject: [PATCH] feat: add imu_monitor and dummy diag (#212)

---
 .../config/dummy_diag_publisher/sensor_kit.param.yaml         | 3 +++
 aip_x2_launch/launch/imu.launch.xml                           | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
index 02ec3b1a..93255e00 100644
--- a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
+++ b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -15,6 +15,9 @@
       # gnss
       gnss: default
 
+      # imu
+      yaw_rate_status: default
+
       # lidar
       pandar_connection: default
       pandar_temperature: default
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index e3f1a056..a71854ea 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -36,6 +36,10 @@
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
       <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
     </include>
+
+    <include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
+    </include>
   </group>
 
 </launch>