fix: add vehicle_velocity_converter.launch (#146)

fix: add vehicle_velocity_converter.launch to aip_x1_1_launch

Signed-off-by: 1222-takeshi <[email protected]>

aip_x1_1_launch/launch/pandar_node_container.launch.py

@@ -100,6 +100,8 @@ def create_parameter_dict(*args):
         plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
         name="distortion_corrector_node",
         remappings=[
+            ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
+            ("~/input/imu", "/sensing/imu/imu_data"),
             ("~/input/velocity_report", "/vehicle/status/velocity_status"),
             ("~/input/pointcloud", "pointcloud_raw_ex"),
             ("~/output/pointcloud", "rectified/pointcloud_ex"),

aip_x1_1_launch/launch/sensing.launch.xml

@@ -20,6 +20,13 @@
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
+    <!-- Vehicle twist -->
+    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+      <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
+      <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x1_1/vehicle_velocity_converter.param.yaml" />
+    </include>
+
   </group>
 
 </launch>

aip_x1_launch/launch/sensing.launch.xml

@@ -34,6 +34,7 @@
     <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/aip_x1/vehicle_velocity_converter.param.yaml" />
     </include>
   </group>