gyro_odometer.launch.xml

<launch>
  <arg name="input_vehicle_twist_with_covariance_topic" default="/sensing/vehicle_velocity_converter/twist_with_covariance" description="input twist with covariance topic name from vehicle"/>

  <arg name="input_imu_topic" default="/sensing/imu/imu_data" description="input imu topic name"/>

  <arg name="output_twist_raw_topic" default="gyro_twist_raw" description="output raw twist topic name"/>
  <arg name="output_twist_with_covariance_raw_topic" default="gyro_twist_with_covariance_raw" description="output raw twist with covariance topic name"/>

  <arg name="output_twist_topic" default="gyro_twist" description="output twist topic name"/>
  <arg name="output_twist_with_covariance_topic" default="gyro_twist_with_covariance" description="output twist with covariance topic name"/>

  <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>

  <node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
    <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>

    <remap from="imu" to="$(var input_imu_topic)"/>

    <remap from="twist_raw" to="$(var output_twist_raw_topic)"/>
    <remap from="twist_with_covariance_raw" to="$(var output_twist_with_covariance_raw_topic)"/>

    <remap from="twist" to="$(var output_twist_topic)"/>
    <remap from="twist_with_covariance" to="$(var output_twist_with_covariance_topic)"/>

    <param from="$(var config_file)"/>
  </node>
</launch>