map and tree manager asking for plugin and type

yaml/IRI/params.yaml

@@ -38,6 +38,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/IRI/params_only_gnss.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/M600a/params.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/M600a/params_only_gnss.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/M600b/params.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/M600b/params_only_gnss.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/atlantic/params.yaml

@@ -17,7 +17,7 @@ config:
     prior:
       #follow: "../prior/POV_factor.yaml"
       follow: "../prior/POV_fix.yaml"
-      
+  
   solver:
     max_num_iterations: 20
     verbose: 0
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+  
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/atlantic/params_only_gnss.yaml

@@ -17,7 +17,7 @@ config:
     prior:
       #follow: "../prior/PO_factor.yaml"
       follow: "../prior/PO_fix.yaml"
-      
+    
   solver:
     max_num_iterations: 20
     verbose: 0
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/scrab/params.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/scrab/params_only_gnss.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -

yaml/tree_manager/sliding_window_10_0.yaml

-type: "TreeManagerSlidingWindow" 
+type: "TreeManagerSlidingWindow"
+plugin: "core"
 n_frames: 10
 n_fix_first_frames: 0
 viral_remove_empty_parent: true
\ No newline at end of file

yaml/tree_manager/sliding_window_10_1.yaml

 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 10
 n_fix_first_frames: 1
 viral_remove_empty_parent: true
\ No newline at end of file

yaml/tree_manager/sliding_window_20_0.yaml

 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 0
 viral_remove_empty_parent: true
\ No newline at end of file

yaml/tree_manager/sliding_window_20_1.yaml

 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 1
 viral_remove_empty_parent: true
\ No newline at end of file

yaml/tree_manager/sliding_window_20_10.yaml

 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 10
 viral_remove_empty_parent: true
\ No newline at end of file

yaml/tree_manager/sliding_window_dual_10_5_10_0.yaml

 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 10
 n_frames_recent: 5
 rate_old_frames: 10

yaml/tree_manager/sliding_window_dual_20_10_10_0.yaml

 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 20
 n_frames_recent: 10
 rate_old_frames: 10

yaml/tree_manager/sliding_window_dual_20_5_10_10.yaml

 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 20
 n_frames_recent: 5
 rate_old_frames: 10

yaml/tree_manager/sliding_window_dual_30_10_10_10.yaml

 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 30
 n_frames_recent: 10
 rate_old_frames: 10

yaml/tucan/params.yaml

@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 4 #GAUSS_TUCAN
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -