From a611daf23a8d07531f9a4c62dad0c51ade2f4ba2 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Thu, 25 Jan 2024 10:16:28 +0100
Subject: [PATCH] added loading of uav_manager config to estimation_manager

---
 launch/estimation_manager.launch              | 1 +
 src/estimation_manager/estimation_manager.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/launch/estimation_manager.launch b/launch/estimation_manager.launch
index 8686a3eb..59df8b47 100644
--- 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
index 018719f6..d732e3e2 100644
--- 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");