Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/analog_devices/launch/adis16470.launch

<launch>
  <arg name="with_filter" default="true"/>
  <arg name="with_rviz" default="false"/>
  <arg name="with_plot" default="false"/>
  <arg name="device" default="/dev/ttyACM0"/>
  <arg name="frame_id" default="imu"/>
  <arg name="burst_read" default="false"/>
  <arg name="rate" default="100"/>
  <arg name="publish_tf" default="true"/>

  <param if="$(arg with_rviz)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find adi_driver)/urdf/adis16470_breakout.urdf'" />

  <node name="imu" pkg="adi_driver" type="adis16470_node">
    <param name="device" value="$(arg device)"/>
    <param name="frame_id" value="$(arg frame_id)"/>
    <param name="burst_mode" value="$(arg burst_read)"/>
    <param name="rate" value="$(arg rate)"/>
    <remap from="/imu/data_raw" to="/imu_raw"/>
  </node>

  <group if="$(arg with_filter)">
    <node name="relay_imu" pkg="topic_tools" type="relay" args="/imu_raw /imu/data_raw" />
    <node name="imu_filter" pkg="imu_filter_madgwick" type="imu_filter_node">
      <param name="use_mag" value="false"/>
      <param name="publish_tf" value="$(arg publish_tf)"/>
      <remap from="/imu/data" to="/imu_filtered"/>
    </node>
  </group>

  <node if="$(arg with_rviz)"
  name="rviz" pkg="rviz" type="rviz" args="-d $(find adi_driver)/launch/imu.rviz"/>

  <group ns="plot" if="$(arg with_plot)">
    <node name="gyro" pkg="rqt_plot" type="rqt_plot"
    args="/imu_raw/angular_velocity/x:y:z"/>
    <node name="accl" pkg="rqt_plot" type="rqt_plot"
    args="/imu_raw/linear_acceleration/x:y:z"/>
  </group>

  <!-- Connect sensors before tests -->
  <test test-name="test_adis16470" pkg="adi_driver" type="test_adis16470.py"/>
  
</launch>