From 3c420786613a8a43a555e8136abe1b80623ec1c1 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Mon, 28 Aug 2023 11:03:08 +0900
Subject: [PATCH 1/3] feat(imu_corrector): add gyro_bias_estimator (#168)

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 aip_x1_launch/launch/imu.launch.xml  | 13 ++++++++++---
 aip_x2_launch/launch/imu.launch.xml  | 14 +++++++++++---
 aip_xx1_launch/launch/imu.launch.xml | 14 +++++++++++---
 3 files changed, 32 insertions(+), 9 deletions(-)

diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index 65adb040..424126f9 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -6,12 +6,19 @@
   <group>
     <push-ros-namespace namespace="imu"/>
 
+    <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="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
-      <arg name="input_topic" value="/sensing/lidar/front_center/livox/imu" />
-      <arg name="output_topic" value="/sensing/imu/imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/imu_corrector.param.yaml" />
+      <arg name="input_topic" value="$(var imu_raw_name)"/>
+      <arg name="output_topic" value="imu_data"/>
+      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
+    <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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
   </group>
 
 </launch>
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index dd408973..5dad00b4 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -21,10 +21,18 @@
       </node>
     </group>
 
+    <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="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
-      <arg name="input_topic" value="tamagawa/imu_raw" />
-      <arg name="output_topic" value="imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/imu_corrector.param.yaml" />
+      <arg name="input_topic" value="$(var imu_raw_name)"/>
+      <arg name="output_topic" value="imu_data"/>
+      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
+      <arg name="input_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="imu_corrector_param_file" value="$(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 72f70ad0..2d4a52b5 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -15,10 +15,18 @@
       </node>
     </group>
 
+    <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="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
-      <arg name="input_topic" value="tamagawa/imu_raw" />
-      <arg name="output_topic" value="imu_data" />
-      <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/imu_corrector.param.yaml" />
+      <arg name="input_topic" value="$(var imu_raw_name)"/>
+      <arg name="output_topic" value="imu_data"/>
+      <arg name="param_file" value="$(var imu_corrector_param_file)"/>
+    </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
+      <arg name="input_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>
 

From 87d3af9e1b1d78b2745bf17f7c04dc5839fa0f06 Mon Sep 17 00:00:00 2001
From: SakodaShintaro <rgbygscrsedppbwg@gmail.com>
Date: Tue, 17 Oct 2023 13:36:39 +0900
Subject: [PATCH 2/3] feat(imu_launch): fixed gyro_bias_estimator input (#180)

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 424126f9..27ffe167 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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <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 5dad00b4..201cf543 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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <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 2d4a52b5..ca369673 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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>

From 7c6de442ee7826a3d4fd82dc3f8f8c1bf140759c Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 17 Oct 2023 05:02:14 +0000
Subject: [PATCH 3/3] ci(pre-commit): autofix

---
 aip_x1_launch/launch/pointcloud_preprocessor.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 17ff681e..bf120a8f 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -32,7 +32,7 @@ def launch_setup(context, *args, **kwargs):
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
-            ("output", "concatenated/pointcloud")
+            ("output", "concatenated/pointcloud"),
         ],
         parameters=[
             {