jkaflik
Move out configuration params from params
At the moment everything lies in a single src/openmower/config directory. It should be split into two:
- ROS node & URDF params
- actual configuration
Are you planning to add some override or extension mechanism? Some parameters will be different between mowers. Some will be different depending on the individual build. For example, I'm using a UM980 connected via USB, so I'll need to change the GPS device and baud rate.
I assume I would have to copy the whole gps.yml and change the values? Or even all the config files?
If on the other hand the user-maintained config files just contained the changed values, it's more easily possible to change defaults and it's clear to see the deviations from the standard.
@rovo89 my take is that we have hardware-specific parameters separated: Like: https://github.com/jkaflik/OpenMowerNext/blob/main/config/gps.yaml or per base mower: https://github.com/jkaflik/OpenMowerNext/blob/main/config/hardware/yardforce500.yaml
The extension system can be implemented via sub-launch files.
E.g. we have a main openmower.launch.py that takes a list of sub-launch files to be launched. The same logic would fit for sim.launch.py.