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chore: changed the package name imu_corrector to autoware_imu_corrector #598

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Merged
merged 2 commits into from
Sep 26, 2024
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chore: changed the package name imu_corrector to autoware_imu_corrector #598

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36067c8
chore: changed the package name imu_corrector to autoware_imu_corrector
knzo25 Aug 13, 2024
0e47922
Merge branch 'main' into chore/imu_corrector_refactor
knzo25 Aug 26, 2024
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12 changes: 6 additions & 6 deletions ...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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Original file line number Diff line number Diff line change
Expand Up @@ -995,12 +995,12 @@ our `gnss.launch.xml` for tutorial vehicle should be like this file
<!-- IMU corrector -->
<group>
<push-ros-namespace namespace="imu"/>
<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="/sensing/gnss/clap/ros/imu"/>
<arg name="output_topic" value="imu_data"/>
<arg name="param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/robione_sensor_kit/imu_corrector.param.yaml"/>
</include>
<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="/sensing/gnss/clap/ros/imu"/>
<arg name="input_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="imu_corrector_param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/robione_sensor_kit/imu_corrector.param.yaml"/>
Expand All @@ -1016,8 +1016,8 @@ At the [sample_sensor_kit](https://github.com/autowarefoundation/sample_sensor_k
there is [Tamagawa IMU sensor](https://mems.tamagawa-seiki.com/en/) used as a IMU sensor.
You can add your IMU driver instead of the Tamagawa IMU driver.
Also,
we will launch [gyro_bias_estimator](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/imu_corrector#gyro_bias_estimator) and
[imu_corrector](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/imu_corrector#imu_corrector) at `imu.launch.xml` file.
we will launch [gyro_bias_estimator](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_imu_corrector#gyro_bias_estimator) and
[imu_corrector](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_imu_corrector#imu_corrector) at `imu.launch.xml` file.
Please refer these documentations for more information
(We added imu_corrector and gyro_bias_estimator at gnss.launch.xml at tutorial_vehicle,
so we will not create and use `imu.launch.xml` for tutorial_vehicle).
Expand Down Expand Up @@ -1051,13 +1051,13 @@ Here is a sample `imu.launch.xml` launch file for autoware:
- <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
+ <arg name="imu_raw_name" default="<YOUR-IMU_MODEL/YOUR-RAW-IMU-TOPIC>"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/sample_sensor_kit/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>

<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="$(var imu_raw_name)"/>
<arg name="input_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
Expand Down
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