/
imu.launch.xml
30 lines (26 loc) · 1.28 KB
/
imu.launch.xml
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<launch>
<arg name="launch_driver" default="true"/>
<group>
<push-ros-namespace namespace="imu"/>
<group>
<push-ros-namespace namespace="tamagawa"/>
<node pkg="tamagawa_imu_driver" name="tag_serial_driver" exec="tag_serial_driver" if="$(var launch_driver)">
<remap from="imu/data_raw" to="imu_raw"/>
<param name="port" value="/dev/imu"/>
<param name="imu_frame_id" value="tamagawa/imu_link"/>
</node>
</group>
<arg name="imu_raw_name" default="tamagawa/imu_raw"/>
<arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/sample_sensor_kit/imu_corrector.param.yaml"/>
<include file="$(find-pkg-share 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="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
</include>
</group>
</launch>