README.md

Launch Configs

.yaml files defining ROS node parameters for different network_systems modules. Each .yaml file should have a short description at the top describing its purpose.

How to Run

To run with pure default defined in the code, run:

ros2 launch network_systems main_launch.py

To run with config files in this folder:

ros2 launch network_systems main_launch.py config:=<comma separated list of config files>

For example:

ros2 launch network_systems main_launch.py config:=default_prod_en.yaml

launches network_systems with the parameters specified in default_prod_en.yaml.

ros2 launch network_systems main_launch.py config:=default_prod_en.yaml,example/example_en.yaml

launches network_systems with the parameters specified in default_prod_en.yaml and example/example_en.yaml. Since example_en.yaml is specified after default_prod_en.yaml, it overrides any duplicate parameters.

NOTE: Instead of defining a mode parameter for each node, a global ROS launch argument is used.

ros2 launch network_systems main_launch.py config:=<...> mode:=production
ros2 launch network_systems main_launch.py config:=<...> mode:=development

Sub-folders

Each sub-folder contains configs specific to each module found under network_systems/projects. Aside from the trivial example/ config, there should be a <module>_template.yaml file with the available parameters. However, this template file is not automatically synchronized with parameter declaration in the code, which are what actually matter. Hence, the most up-to-date parameter declarations are found under network_systems/projects/<module>/src/<module>_ros_intf.cpp.