feat(distortion_corrector): use gyroscope for correcting LiDAR distor…

…tion (autowarefoundation#365)

* resolve conflict

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

* update readme

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

README.md

@@ -1,6 +1,6 @@
 # autoware_launcher
 
-## Getting Started
+## Getting started
 
 ### Using real vehicle
 
@@ -14,7 +14,7 @@ ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder ve
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=[vehicle_name] sensor_model:=[sensor_name]
 ```
 
-## Directory Structure
+## Directory structure
 
 - [autoware_launch](./autoware_launch)
 - [control_launch](./control_launch)

localization_launch/launch/twist_estimator/twist_estimator.launch.xml

@@ -1,12 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
-    <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
-    <arg name="output_twist_with_covariance" value="/localization/twist_estimator/vehicle_velocity_converter/twist_with_covariance"/>
-  </include>
   <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
-    <arg name="input_vehicle_twist_with_covariance_topic" value="/localization/twist_estimator/vehicle_velocity_converter/twist_with_covariance"/>
-    <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance" />
-    <arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw" />
+    <arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+    <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
+    <arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>
   </include>
 </launch>