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autoware_imu_corrector package from autoware_universe repo

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autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch 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_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 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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 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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

Tags	No category tags.
Version	0.48.0
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	2025-12-03
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The ROS 2 autoware_imu_corrector package

Additional Links

No additional links.

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.

Correct yaw rate offset $b$ by reading the parameter.
Correct yaw rate standard deviation $\sigma$ by reading the parameter.
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.

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

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_imu_corrector

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
- bias rotated and not rotated used for angle scale estimation
- style(pre-commit): autofix
- added bias to publish and bias not rotated for scale estimation
- deleting commented lines and renaming bias variable
- style(pre-commit): autofix
- rewrites gyro correction to avoid confusion, adds filter to scale estimation
- style(pre-commit): autofix
- Adding limits for covariance ekf angle
- style(pre-commit): autofix
- removing unused functions
- new params to detect large scale changes
- style(pre-commit): autofix
- renaming node name and changed parameters boundaries
- style(pre-commit): autofix
- refactor: main function to estimate scale
- style(pre-commit): autofix
- refactoring variables
- style(pre-commit): autofix
- new: Added json file for parameters and refactoring
- style(pre-commit): autofix
- refactor variables
- Refactor variables
- style(pre-commit): autofix
- new: unittest for scale angle estimation
- style(pre-commit): autofix
- added dependencies to package xml
- style(pre-commit): autofix
- header files inside include directory refactored , tested functions now public
- style(pre-commit): autofix
- moved include files and code refactored
- style(pre-commit): autofix
- refactor add has value checking for variable
- refactor: removed debug vectors
- style(pre-commit): autofix
- refactor: published scale for angle must be divided
- refactor: added missing header file
- style(pre-commit): autofix
- refactor: added zero checking
- style(pre-commit): autofix
- refactor: use abs to perform comparison
- chore: added scale estimation description to readme
- style(pre-commit): autofix
- chore: readme grammar correction
- refactor: fix to pass CI
* fix: documentation changed ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gmock
	ament_cmake_gtest
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	tf2_geometry_msgs
	autoware_utils
	diagnostic_updater
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_ros

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
deviation_evaluator

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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