From 1de14ae82e375d8d8805b55dfb1080f7cef24a42 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Tue, 28 Jun 2022 15:37:50 +0900
Subject: [PATCH] feat(distortion_corrector): use gyroscope for correcting
 LiDAR distortion (#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                                              |  4 ++--
 .../launch/twist_estimator/twist_estimator.launch.xml  | 10 +++-------
 2 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/README.md b/README.md
index b1ff82b20..b22428a81 100644
--- a/README.md
+++ b/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)
diff --git a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/localization_launch/launch/twist_estimator/twist_estimator.launch.xml
index fd7854a7e..155521a0e 100644
--- a/localization_launch/launch/twist_estimator/twist_estimator.launch.xml
+++ b/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>