add ability for user to specify their own motion capture yaml file

crazyflie/launch/launch.py

@@ -10,8 +10,8 @@
 
 def parse_yaml(context):
  # Load the crazyflies YAML file
- crazyflies_yaml_file = LaunchConfiguration('crazyflies_yaml_file').perform(context)
- with open(crazyflies_yaml_file, 'r') as file:
+ crazyflies_yaml = LaunchConfiguration('crazyflies_yaml_file').perform(context)
+ with open(crazyflies_yaml, 'r') as file:
  crazyflies = yaml.safe_load(file)
 
  # server params
@@ -36,11 +36,7 @@ def parse_yaml(context):
  server_params[1]['robot_description'] = robot_desc
 
  # construct motion_capture_configuration
- motion_capture_yaml = os.path.join(
- get_package_share_directory('crazyflie'),
- 'config',
- 'motion_capture.yaml')
-
+ motion_capture_yaml = LaunchConfiguration('motion_capture_yaml_file').perform(context)
  with open(motion_capture_yaml, 'r') as ymlfile:
  motion_capture_content = yaml.safe_load(ymlfile)
 
@@ -99,6 +95,11 @@ def generate_launch_description():
  get_package_share_directory('crazyflie'),
  'config',
  'crazyflies.yaml')
+
+ default_motion_capture_yaml_path = os.path.join(
+ get_package_share_directory('crazyflie'),
+ 'config',
+ 'motion_capture.yaml')
 
  telop_yaml_path = os.path.join(
  get_package_share_directory('crazyflie'),
@@ -108,6 +109,8 @@ def generate_launch_description():
  return LaunchDescription([
  DeclareLaunchArgument('crazyflies_yaml_file', 
  default_value=default_crazyflies_yaml_path),
+ DeclareLaunchArgument('motion_capture_yaml_file', 
+ default_value=default_motion_capture_yaml_path),
  DeclareLaunchArgument('backend', default_value='cpp'),
  DeclareLaunchArgument('debug', default_value='False'),
  DeclareLaunchArgument('rviz', default_value='False'),