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chore: part of the refactor if imu_corrector into the autoware namespace #273

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merged 2 commits into from
Aug 26, 2024
Merged

chore: part of the refactor if imu_corrector into the autoware namespace #273

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ad99cbb
chore: part of the refactor if imu_corrector into the autoware namespace
knzo25 Jul 26, 2024
a7b813e
Merge branch 'tier4/universe' into chore/imu_corrector_refactor
knzo25 Aug 13, 2024
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4 changes: 2 additions & 2 deletions aip_x1_launch/launch/imu.launch.xml
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Expand Up @@ -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)"/>
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2 changes: 1 addition & 1 deletion aip_x1_launch/package.xml
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Expand Up @@ -10,9 +10,9 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_imu_corrector</exec_depend>
<exec_depend>autoware_pointcloud_preprocessor</exec_depend>
<exec_depend>gnss_poser</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>
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4 changes: 2 additions & 2 deletions aip_x2_launch/launch/imu.launch.xml
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Expand Up @@ -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)"/>
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2 changes: 1 addition & 1 deletion aip_x2_launch/package.xml
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Expand Up @@ -10,12 +10,12 @@

<buildtool_depend>ament_cmake_auto</buildtool_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>gnss_poser</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>
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4 changes: 2 additions & 2 deletions aip_xx1_gen2_launch/launch/imu.launch.xml
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Expand Up @@ -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)"/>
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2 changes: 1 addition & 1 deletion aip_xx1_gen2_launch/package.xml
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Expand Up @@ -10,13 +10,13 @@

<buildtool_depend>ament_cmake_auto</buildtool_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>gnss_poser</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>
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4 changes: 2 additions & 2 deletions aip_xx1_launch/launch/imu.launch.xml
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Expand Up @@ -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)"/>
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2 changes: 1 addition & 1 deletion aip_xx1_launch/package.xml
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Expand Up @@ -10,11 +10,11 @@

<buildtool_depend>ament_cmake_auto</buildtool_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>gnss_poser</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>
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