Configuration

Overview

Currently most of the configuration is hardcoded everywhere in the code. Only a few things are configurable using environment variables. The goal is to:

• all ROS nodes should be configurable using ROS parameters
• when applicable, parameter should support a hot reload
• all parameter change should be persisted and restored on the next start
• documentation should be available for all parameters

Environment variables

• OM_MAP_PATH - path to the map file (see: map server)
• OM_DATUM_LAT - latitude of the datum point
• OM_DATUM_LON - longitude of the datum point