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feat(distortion_corrector): use gyroscope for correcting LiDAR distortion #365

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Jun 28, 2022
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feat(distortion_corrector): use gyroscope for correcting LiDAR distortion #365

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92570c8
resolve conflict
kminoda Jun 23, 2022
19c37ab
update readme
kminoda Jun 28, 2022
59f8740
Merge branch 'awf-latest' into feature/use_gyro_in_distortion_corrector
kminoda Jun 28, 2022
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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# autoware_launcher

## Getting Started
## Getting started

### Using real vehicle

Expand All @@ -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)
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10 changes: 3 additions & 7 deletions localization_launch/launch/twist_estimator/twist_estimator.launch.xml
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@@ -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>