From d606155423fab7283dc4cbe7b4ded5fd8689963d Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Mon, 23 Oct 2023 15:00:47 +0900
Subject: [PATCH] Fixed gyro_bias_estimator input

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 aip_x1_launch/launch/imu.launch.xml  | 2 +-
 aip_x2_launch/launch/imu.launch.xml  | 2 +-
 aip_xx1_launch/launch/imu.launch.xml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index 27ffe167..c192c5a1 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -16,7 +16,7 @@
 
     <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>
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index 201cf543..432316cb 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -31,7 +31,7 @@
 
     <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>
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index ca369673..b764d598 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -25,7 +25,7 @@
 
     <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>