From 3380fd6562a869a5e81e3f91978f2d763a184d2d Mon Sep 17 00:00:00 2001
From: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
Date: Fri, 13 Oct 2023 18:36:44 +0900
Subject: [PATCH] Added gyro_bias_estimator

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 awsim_sensor_kit_launch/launch/imu.launch.xml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/awsim_sensor_kit_launch/launch/imu.launch.xml b/awsim_sensor_kit_launch/launch/imu.launch.xml
index a4f1106..a34d7d9 100644
--- a/awsim_sensor_kit_launch/launch/imu.launch.xml
+++ b/awsim_sensor_kit_launch/launch/imu.launch.xml
@@ -7,5 +7,12 @@
       <!-- We are using default node values -->
       <!-- <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/awsim_sensor_kit/imu_corrector.param.yaml"/> -->
     </include>
+
+    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+      <arg name="input_imu_raw" value="tamagawa/imu_raw"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
+      <!-- We are using default node values -->
+      <!-- <arg name="param_file" value="$(find-pkg-share individual_params)/config/$(env VEHICLE_ID default)/awsim_sensor_kit/imu_corrector.param.yaml"/> -->
+    </include>
   </group>
 </launch>