Refactor YAML files

[lorixhack]

We want to separate the YAML configuration files in smaller YAML files where each of them will contain a separate part of the codebase:

• Robot parameters (number of modules, physics parameters, type of CAN bus ecc ...) for the two versions of the robot
• Digital twin parameters (xacro)
• Sensors (realsense and other sensors in future)
• Reseq controllers

You can find the config files in this directory: reseq_ros2/reseq_ros2/config

The idea is to create a script which will generate the YAML file for the specific configuration we will want to launch, including the other base YAML files.

[Yusuf-Serdar]

It sounds like a good idea. But I'm not sure I'm getting the point of the script right. Correct me if I'm wrong.

My objective would be that

• each reseq robot (mk1 and mk2) keep its own reseq_mk?.yaml containing only its specific configuration
• but each specific configuration file would reference the externalized YAML containing the common configuration, e.g. creating a digital_twin_params.yaml file for configuring xacro dictionary key values, and other separate YAML files for _eneaconsts, _scalerconsts, etc.

If there is no problem so far, my question about the script is that

• do we select the specific configuration we will want to launch dynamically at launch time
• or modify the script to select specific configurations

Any further clarification on the script would be great.