added custom config

ctu-mrs · Feb 26, 2024 · 348e013 · 348e013
1 parent bc324f3
commit 348e013
Showing 1 changed file with 23 additions and 17 deletions.
diff --git a/launch/liosam.launch b/launch/liosam.launch
@@ -4,6 +4,7 @@
   <arg name="RUN_TYPE" default="$(env RUN_TYPE)" />
 
   <arg name="node_prefix" default=""/>
+  <arg name="custom_config" default=""/>
 
   <arg if="$(eval arg('RUN_TYPE') == 'simulation')" name="is_simulation" value="true" />
   <arg if="$(eval arg('RUN_TYPE') == 'realworld')" name="is_simulation" value="false" />
@@ -31,6 +32,7 @@
       <!-- config file --> 
       <rosparam file="$(arg config_file)" command="load" />
       <rosparam file="$(arg imu_config_file)" command="load" />
+      <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
       <!-- parameters -->
       <param name="uavName" type="string" value="$(arg UAV_NAME)" />
@@ -52,28 +54,29 @@
 <!--//}-->
 
 <!--//{ transform fusion nodelet -->
-       <node pkg="nodelet" type="nodelet" name="$(arg node_prefix)transform_fusion" args="$(arg nodelet) liosam/TransformFusion $(arg nodelet_manager)" output="screen" launch-prefix="bash -c 'sleep $(arg launch_delay); $0 $@'; $(arg launch_prefix)"> 
+    <node pkg="nodelet" type="nodelet" name="$(arg node_prefix)transform_fusion" args="$(arg nodelet) liosam/TransformFusion $(arg nodelet_manager)" output="screen" launch-prefix="bash -c 'sleep $(arg launch_delay); $0 $@'; $(arg launch_prefix)"> 
 
-        <!-- config file --> 
-        <rosparam file="$(arg config_file)" command="load" />
-        <rosparam file="$(arg imu_config_file)" command="load" />
+     <!-- config file --> 
+     <rosparam file="$(arg config_file)" command="load" />
+     <rosparam file="$(arg imu_config_file)" command="load" />
+     <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
-        <!-- parameters -->
-        <param name="uavName" type="string" value="$(arg UAV_NAME)" /> 
-        <param name="lidarFrame" type="string" value="$(arg frame_lidar)" />
-        <param name="baselinkFrame" type="string" value="$(arg frame_baselink)" />
-        <param name="odometryFrame" type="string" value="$(arg frame_odom)" />
-        <param name="mapFrame" type="string" value="$(arg frame_map)" />
+     <!-- parameters -->
+     <param name="uavName" type="string" value="$(arg UAV_NAME)" /> 
+     <param name="lidarFrame" type="string" value="$(arg frame_lidar)" />
+     <param name="baselinkFrame" type="string" value="$(arg frame_baselink)" />
+     <param name="odometryFrame" type="string" value="$(arg frame_odom)" />
+     <param name="mapFrame" type="string" value="$(arg frame_map)" />
 
-        <!-- publishers --> 
-        <remap from="~liosam/fusion/odometry_out" to="$(arg node_prefix)liosam/fusion/odometry" /> 
-        <remap from="~liosam/fusion/path_out" to="$(arg node_prefix)liosam/fusion/path" /> 
+     <!-- publishers --> 
+     <remap from="~liosam/fusion/odometry_out" to="$(arg node_prefix)liosam/fusion/odometry" /> 
+     <remap from="~liosam/fusion/path_out" to="$(arg node_prefix)liosam/fusion/path" /> 
 
-        <!-- subscribers --> 
-        <remap from="~liosam/fusion/odom_preintegrated_in" to="$(arg node_prefix)liosam/preintegration/odometry" /> 
-        <remap from="~liosam/fusion/odom_mapping_in" to="$(arg node_prefix)liosam/mapping/odometry" /> 
+     <!-- subscribers --> 
+     <remap from="~liosam/fusion/odom_preintegrated_in" to="$(arg node_prefix)liosam/preintegration/odometry" /> 
+     <remap from="~liosam/fusion/odom_mapping_in" to="$(arg node_prefix)liosam/mapping/odometry" /> 
 
-       </node> 
+    </node> 
 <!-- //} -->
 
 <!--//{ image_projection nodelet -->
@@ -82,6 +85,7 @@
         <!-- config file --> 
         <rosparam file="$(arg config_file)" command="load" />
         <rosparam file="$(arg imu_config_file)" command="load" />
+        <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
         <!-- parameters -->
         <param name="uavName" type="string" value="$(arg UAV_NAME)" />
@@ -105,6 +109,7 @@
 
         <!-- config file --> 
         <rosparam file="$(arg config_file)" command="load" />
+        <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
         <!-- parameters -->
         <param name="uavName" type="string" value="$(arg UAV_NAME)" />
@@ -128,6 +133,7 @@
         <!-- config file --> 
         <rosparam file="$(arg config_file)" command="load" />
         <rosparam file="$(arg imu_config_file)" command="load" />
+        <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
         <!-- parameters -->
         <param name="uavName" type="string" value="$(arg UAV_NAME)" />