Subscribers parmeters in YAML
The current implementation of the ParamServer
(actually, the ParserYAML
, btw not following naming convention) does not allow the subscribers to have specific parameters.
In GAUSS we require this feature and I think it could be useful.
The problem is that a "unique_name" should be defined for the ROS subscribers. Now they have package
, topic
, type
and sensor_name
. Package
and type
can't be unique (two cameras should work at the same time with two different subscribers). I think that both topic
and sensor_name
should be always unique. Considering strange cases such as GNSS (two or three different types of captures are used in the same sensor), I think that topic
is the best unique key. We could add a "name" but I think that's excessive.
This is core
code but it is only used in ROS.