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autoware_imu_corrector package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction 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autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

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autoware_imu_corrector package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

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Services

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Plugins

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autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_imu_corrector at Robotics Stack Exchange

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autoware_imu_corrector package from autoware_universe repo

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autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction 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autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

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Services

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Plugins

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Recent questions tagged autoware_imu_corrector at Robotics Stack Exchange

Package symbol

autoware_imu_corrector package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

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autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

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Services

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Plugins

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autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_imu_corrector at Robotics Stack Exchange

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autoware_imu_corrector package from autoware_universe repo

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autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector 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autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin 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autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_imu_corrector at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_imu_corrector package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Maintainers

  • Yamato Ando
  • Taiki Yamada

Authors

  • Yamato Ando
sensing/autoware_imu_corrector/README.md

autoware_imu_corrector

imu_corrector

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset $b$ by reading the parameter.
  2. Correct yaw rate standard deviation $\sigma$ by reading the parameter.
  3. Correct yaw rate scale $s$ using NDT pose as a ground truth.

Mathematically, we assume the following equation:

\[\tilde{\omega}(t) = s(t) * \omega(t) + b(t) + n(t)\]

where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, $s$ denotes the scale, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.

Input

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters

Name Type Description
angular_velocity_offset_x double roll rate offset in imu_link [rad/s]
angular_velocity_offset_y double pitch rate offset imu_link [rad/s]
angular_velocity_offset_z double yaw rate offset imu_link [rad/s]
angular_velocity_stddev_xx double roll rate standard deviation imu_link [rad/s]
angular_velocity_stddev_yy double pitch rate standard deviation imu_link [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation imu_link [rad/s]
acceleration_stddev double acceleration standard deviation imu_link [m/s^2]

Note: The angular velocity offset values introduce a fixed compensation that is not considered in the gyro bias estimation. If the on_off_correction.correct_for_dynamic_bias flag and the on_off_correction.correct_for_static_bias flags are enabled, automatically the correct_for_static_bias will be disabled to avoid correction errors.

gyro_bias_estimator

gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.

Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.

Input

Name Type Description
~/input/imu_raw sensor_msgs::msg::Imu raw imu data
~/input/pose geometry_msgs::msg::PoseWithCovarianceStamped ndt pose
~/input/odometry nav_msgs::msg::Odometry odometry data

Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.

Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.

In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.

The Extended Kalman Filter (EKF) is used for scale estimation. The NDT pose is used as ground truth, and we assume it’s accurate enough to provide long-term convergence for the correct scale observation, the EKF filter includes an initial checking and it requires N amount of consecutive in bounds samples to initialize samples_in_bounds_to_init , otherwise retries up to the value set on max_reinitialization_retries before triggering an error.

Output

Name Type Description
~/output/gyro_bias geometry_msgs::msg::Vector3Stamped bias of the gyroscope [rad/s]
~/output/gyro_scale geometry_msgs::msg::Vector3Stamped estimated scale of the gyroscope [no units]

Parameters (Bias estimation)

Note that this node also uses angular_velocity_offset_x, angular_velocity_offset_y, angular_velocity_offset_z parameters from imu_corrector.param.yaml.

Name Type Description
gyro_bias_threshold double threshold of the bias of the gyroscope [rad/s]
timer_callback_interval_sec double seconds about the timer callback function [sec]
diagnostics_updater_interval_sec double period of the diagnostics updater [sec]
straight_motion_ang_vel_upper_limit double upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s]

Parameters (Scale estimation)

Name Type Description
estimate_scale_init double Initial value for scale estimation
min_allowed_scale double Minimum allowed scale value
max_allowed_scale double Maximum allowed scale value
threshold_to_estimate_scale double Minimum yaw rate required to estimate scale
percentage_scale_rate_allow_correct double Allowed percentage change with respect to current scale for correction
alpha double Filter coefficient for scale (complementary filter)
delay_gyro_ms int Delay applied to gyro data in milliseconds
samples_filter_pose_rate int Number of samples for pose rate filtering
samples_filter_gyro_rate int Number of samples for gyro rate filtering

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix(imu_scale_bias_estimator): ekf initializes only when it has in bounds samples (#11816)

    • fix: restart scale estimation if initial value is out of bounds
    • fix: variable initialization and typo error on README

    * fix: uninitialized new variable ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • feat!: remove ROS 2 Galactic codes (#11905)

  • Contributors: Ryohsuke Mitsudome, SergioReyesSan

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • docs: fix link to deviation_estimator in README (#11695) Updated the link for deviation_estimator in README.

  • feat: implement bias correction controls and update README (#11474)

    • chore: modified readme description for clarification on imu correction
    • style(pre-commit): autofix
    • new: flag for static or dynamic bias correction
    • style(pre-commit): autofix
    • chore: throw exception when dual bias correction is selected
    • style(pre-commit): autofix
    • chore: correction configuration loged and moved mutualexclusion
    • style(pre-commit): autofix
    • chore: disabled static bias correctio when static and dynamic are enabled
    • fix: schema updated to pass review
    • chore: enabled static bias by default

    * chore: enhanced readme explanation and fixed default variables state ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

  • Contributors: Masahiro Kubota, Ryohsuke Mitsudome, SergioReyesSan

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: on off scale and bias correction (#11314)

    • feat: adding parameter to turn on or off scale and bias correction
    • style(pre-commit): autofix
    • chore: add parameter to turn on or off scale and bias correction in launcher
    • chore: updating schema
    • chore: add override parameters from file to enable disable scal bias
    • chore: renamed params to enable disble scale bias correction

    * chore: modified schema files ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat: scale gyro estimation (#10724)

    • feat: scale estimation for gyro on z axis added
    • after precommit local
    • wip: imu correction with scale and bias
    • feat: added diagnostic messages when scale change
    • monitoring bias and scale gyro status in diagnostics message
    • style(pre-commit): autofix
    • added scale and bias on purpose for testing
    • style(pre-commit): autofix
    • added flipped gyro scaled bas signal
    • style(pre-commit): autofix
    • fixed bias sign, removed flipped mod signal
    • style(pre-commit): autofix
    • added scale estimation update function
    • style(pre-commit): autofix
    • Added threshold to avoid estimation when vehicle is stopped
    • style(pre-commit): autofix
    • scale changes real time test
    • changed parameters scale file
    • style(pre-commit): autofix
    • feat: new ekf scale estimation using angle
    • changed offset used for testing

File truncated at 100 lines see the full file

Launch files

  • launch/gyro_bias_estimator.launch.xml
      • input_imu_raw [default: imu_raw]
      • input_odom [default: odom]
      • input_pose_ndt [default: pose_ndt]
      • output_gyro_bias [default: gyro_bias]
      • output_gyro_scale [default: gyro_scale]
      • output_imu_scaled [default: imu_scaled]
      • gyro_bias_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
      • imu_corrector_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
  • launch/imu_corrector.launch.xml
      • input_topic [default: imu_raw]
      • input_gyro_bias_topic [default: gyro_bias]
      • input_gyro_scale_topic [default: gyro_scale]
      • output_topic [default: imu_data]
      • param_file [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • param_scale_file [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]

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