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

…tion (#36) * removed vehicle_velocity_converter from localization Signed-off-by: kminoda <koji.m.minoda@gmail.com> * changed description of vehicle velocity converter in sensing.launch.xml Signed-off-by: kminoda <koji.m.minoda@gmail.com>
autowarefoundation · Jun 28, 2022 · 8270310 · 8270310
1 parent ddbd539
commit 8270310
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/sample_sensor_kit_launch/launch/sensing.launch.xml b/sample_sensor_kit_launch/launch/sensing.launch.xml
@@ -27,5 +27,11 @@
     <include file="$(find-pkg-share sample_sensor_kit_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)"/>
     </include>
+
+    <!-- Vehicle Velocity Converter  -->
+    <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="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
+    </include>
   </group>
 </launch>