From a72fe01df9de03dea774f89dfbf50a4063b9998f Mon Sep 17 00:00:00 2001
From: SakodaShintaro <rgbygscrsedppbwg@gmail.com>
Date: Thu, 1 Feb 2024 17:03:48 +0900
Subject: [PATCH] chore(twist2accel): rework parameters (#842)

Added twist2accel.param.yaml

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>
---
 autoware_launch/config/localization/twist2accel.param.yaml    | 4 ++++
 .../launch/components/tier4_localization_component.launch.xml | 1 +
 2 files changed, 5 insertions(+)
 create mode 100644 autoware_launch/config/localization/twist2accel.param.yaml

diff --git a/autoware_launch/config/localization/twist2accel.param.yaml b/autoware_launch/config/localization/twist2accel.param.yaml
new file mode 100644
index 0000000000..e58e029248
--- /dev/null
+++ b/autoware_launch/config/localization/twist2accel.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    use_odom: true
+    accel_lowpass_gain: 0.9
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 7ec292a381..70170a5fef 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -25,6 +25,7 @@
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
       <arg name="ekf_localizer_param_path" value="$(var loc_config_path)/ekf_localizer.param.yaml"/>
       <arg name="pose_initializer_param_path" value="$(var loc_config_path)/pose_initializer.param.yaml"/>
+      <arg name="twist2accel_param_path" value="$(var loc_config_path)/twist2accel.param.yaml"/>
 
       <!-- parameter paths for ndt -->
       <arg name="ndt_scan_matcher_param_path" value="$(var loc_config_path)/ndt_scan_matcher.param.yaml"/>