feat: add imu_monitor and dummy diag (#212)

tier4 · Aug 27, 2024 · c5348b5 · c5348b5
1 parent cc534b2
commit c5348b5
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diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -15,6 +15,9 @@
       # gnss
       gnss: default
 
+      # imu
+      yaw_rate_status: default
+
       # lidar
       pandar_connection: default
       pandar_temperature: default

diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml
@@ -36,6 +36,10 @@
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
       <arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
     </include>
+
+    <include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
+    </include>
   </group>
 
 </launch>