From 3df370282c7447b4f6ec5c763ecf58f5c61ac526 Mon Sep 17 00:00:00 2001
From: SakodaShintaro <rgbygscrsedppbwg@gmail.com>
Date: Tue, 17 Oct 2023 13:36:39 +0900
Subject: [PATCH] feat(imu_launch): fixed gyro_bias_estimator input (#180)

Fixed gyro_bias_estimator input

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---
 aip_x1_launch/launch/imu.launch.xml  | 2 +-
 aip_x2_launch/launch/imu.launch.xml  | 2 +-
 aip_xx1_launch/launch/imu.launch.xml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml
index 424126f9..27ffe167 100644
--- a/aip_x1_launch/launch/imu.launch.xml
+++ b/aip_x1_launch/launch/imu.launch.xml
@@ -16,7 +16,7 @@
 
     <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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>
diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
index 5dad00b4..201cf543 100644
--- a/aip_x2_launch/launch/imu.launch.xml
+++ b/aip_x2_launch/launch/imu.launch.xml
@@ -31,7 +31,7 @@
 
     <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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>
diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml
index 2d4a52b5..ca369673 100644
--- a/aip_xx1_launch/launch/imu.launch.xml
+++ b/aip_xx1_launch/launch/imu.launch.xml
@@ -25,7 +25,7 @@
 
     <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_twist" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+      <arg name="input_pose" value="/localization/pose_estimator/pose_with_covariance"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
     </include>
   </group>