Merge branch 'tier4/universe' into chore/gnss_poser/add_autoware_pref…

…ix_again
tier4 · Aug 29, 2024 · 835f79d · 835f79d
2 parents a8245dd + 82d2317
commit 835f79d
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Showing 8 changed files with 12 additions and 12 deletions.
diff --git 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
@@ -11,8 +11,8 @@
   <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>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
@@ -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
@@ -11,11 +11,11 @@
   <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>autoware_simple_object_merger</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</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
@@ -37,15 +37,15 @@
     <!-- 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)"/>
     </include>
 
     <!-- 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
@@ -11,12 +11,12 @@
   <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_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>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
@@ -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
@@ -11,10 +11,10 @@
   <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>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>