Input to gyro_bias_estimator

[ZDZhang114514]

Hello,

I'm using autoware.universe in main branch and now trying to launch the gyro_bias_estimator from package autoware_imu_corrector. I noticed that in the README file, the input topics should be /input/imu_raw and /input/pose. However, in the file gyro_bias_estimator.cpp and also in the launch file, the topic /odom instead of /input/pose is required. In the localization package I found only pose topics and massages. So, I'm confused which kind of input should be used here. If /odom is the right choise, from which node is it published?

Thanks a lot for your help. :)

[TaikiYamada4]

Yes, the README is mistaken and should input a nav_msgs/Odometry message, which might be the /localization/kinematic_state in the usual Autoware.
It is published from the /localization/pose_twist_fusion_filter/stop_filter.

[ZDZhang114514]

Got it! Thanks a lot for your help!
( ´∀｀)