added loading of uav_manager config to estimation_manager

ctu-mrs · Jan 25, 2024 · a611daf · a611daf
1 parent 8d56aa0
commit a611daf
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diff --git a/launch/estimation_manager.launch b/launch/estimation_manager.launch
@@ -39,6 +39,7 @@
       <!-- Load the default param files -->
       <param name="private_config" value="$(find mrs_uav_managers)/config/private/estimation_manager/estimation_manager.yaml" />
       <param name="public_config" value="$(find mrs_uav_managers)/config/public/estimation_manager/estimation_manager.yaml" />
+      <param name="uav_manager_config" value="$(find mrs_uav_managers)/config/public/uav_manager.yaml" />
       <param name="estimators_config" value="$(find mrs_uav_managers)/config/private/estimators.yaml" />
       <param name="active_estimators_config" value="$(find mrs_uav_managers)/config/public/active_estimators.yaml" />
 

diff --git a/src/estimation_manager/estimation_manager.cpp b/src/estimation_manager/estimation_manager.cpp
@@ -731,6 +731,7 @@ void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEve
 
   param_loader.addYamlFileFromParam("private_config");
   param_loader.addYamlFileFromParam("public_config");
+  param_loader.addYamlFileFromParam("uav_manager_config");
   param_loader.addYamlFileFromParam("estimators_config");
   param_loader.addYamlFileFromParam("active_estimators_config");