Merge pull request #223 from jessebloecker/master

add config_path to subscribe.launch.py

ov_msckf/launch/subscribe.launch.py

@@ -20,6 +20,11 @@
  default_value="euroc_mav",
  description="euroc_mav, tum_vi, rpng_aruco...",
  ),
+ DeclareLaunchArgument(
+ name="config_path",
+ default_value="",
+ description="path to estimator_config.yaml. If not given, determined based on provided 'config' above",
+ ),
  DeclareLaunchArgument(
  name="verbosity",
  default_value="INFO",
@@ -39,23 +44,32 @@
 
 
 def launch_setup(context):
- configs_dir = os.path.join(get_package_share_directory("ov_msckf"), "config")
- available_configs = os.listdir(configs_dir)
- config = LaunchConfiguration("config").perform(context)
- if not config in available_configs:
- return [
- LogInfo(
- msg="ERROR: unknown config: '{}' - Available configs are: {} - not starting OpenVINS".format(
- config, ", ".join(available_configs)
+ config_path = LaunchConfiguration("config_path").perform(context)
+ if not config_path:
+ configs_dir = os.path.join(get_package_share_directory("ov_msckf"), "config")
+ available_configs = os.listdir(configs_dir)
+ config = LaunchConfiguration("config").perform(context)
+ if config in available_configs:
+ config_path = os.path.join(
+ get_package_share_directory("ov_msckf"),
+ "config",config,"estimator_config.yaml"
+ )
+ else:
+ return [
+ LogInfo(
+ msg="ERROR: unknown config: '{}' - Available configs are: {} - not starting OpenVINS".format(
+ config, ", ".join(available_configs)
+ )
  )
- )
- ]
- config_path = os.path.join(
- get_package_share_directory("ov_msckf"),
- "config",
- config,
- "estimator_config.yaml",
- )
+ ]
+ else:
+ if not os.path.isfile(config_path):
+ return [
+ LogInfo(
+ msg="ERROR: config_path file: '{}' - does not exist. - not starting OpenVINS".format(
+ config_path)
+ )
+ ]
  node1 = Node(
  package="ov_msckf",
  executable="run_subscribe_msckf",