Use Parameters in Launch file - Githubissues

Team-Isaac-Polito / reseq_ros2

High-level ROS2 code to control the ReseQ robot

GNU General Public License v3.0

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Use Parameters in Launch file #16

Closed luca-byte closed 5 months ago

luca-byte commented 5 months ago

Launch file

The launch file should perform the following operations:

[x] receive a yaml config file name from the command line OR use a predefined configuration file
[x] search the config file in the share directory
[x] parse the config file and pass the relevant parameters to the nodes
[x] launch the EnEA node conditionally to the version of the robot in the config file version: "mk1"

Complementary tasks

[x] nodes declare their parameters and receive them from the launch file
[x] move the parameters from the constants file to the config files
[x] update parameters (d, req, these) according to measures (Meeting 17/04/2024)
[x] Create three config files (two mk1, one (default) with can1, one with vcan0; one mk2 with vcan0) (look at branch dev-digital-twin)

Future tasks (won't fix)

define a way to launch nodes one by one
consider variability in CAN-to-ROS topics depending on version
consider variability in the scaler node