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novatel / novatel_oem7_driver

ROS Driver for NovAtel OEM7 GNSS/SPAN Receivers
https://wiki.ros.org/novatel_oem7_driver
MIT License
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Document best practice for overriding default params #59

Open garyedwards opened 2 years ago

garyedwards commented 2 years ago

Is your feature request related to a problem? Please describe. Document best practice for overriding default params.

The oem7_ext_params_file arg in the std_driver_config.xml file seemed like a good solution to this but has been removed.

At the moment the only solution I can think of is to maintain local copy of the whole std_driver_config.xml file. It does not seem to change much so maybe this is fine and what is expected?

Describe the solution you'd like Confirm the above local std_driver_config.xml is the expected way to update parameters.

Exposing more args in the upstream std_driver_config.xml would also be a nice option.

Describe alternatives you've considered As above.

Additional context This is to mainly support receiver_init_commands customisation which I would imagine most users need to do.

novatel-applications-engineering commented 2 years ago

Hi @garyedwards, thank you for reaching out to us. We have received your request and will initiate a discussion with engineering.

We will let you know when an update is available.

novatel-applications-engineering commented 2 years ago

Hi @garyedwards, would you be looking at using this feature in ROS1 only? or is this also requested for ROS2?

garyedwards commented 2 years ago

Both really but we are using ROS1 at the moment.

novatel-applications-engineering commented 2 years ago

Hi @garyedwards, thank you for your input. I will pass this information to our product management and engineering.

novatel-applications-engineering commented 2 years ago

Hi @garyedwards Thank you for your patience on a response. After discussing with engineering, this is a part of best practices for using ROS. The extended parameters should be a part of the launch file not the xml file. This removes any irrelevant hard coded instructions that can impact reusability. Nevertheless, you still have the ability to add them on your local drive for your convenience. Please let us know if you have any questions.