From a2e42531c4602c22bf865143a07a52776246d3f4 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Tue, 1 Oct 2024 17:25:23 +0200
Subject: [PATCH] added loading of custom config to launch file

---
 launch/vins_republisher_openvins_bluefox.launch | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/launch/vins_republisher_openvins_bluefox.launch b/launch/vins_republisher_openvins_bluefox.launch
index 097e529..aedc664 100644
--- a/launch/vins_republisher_openvins_bluefox.launch
+++ b/launch/vins_republisher_openvins_bluefox.launch
@@ -24,6 +24,8 @@
   <arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg manager)"/>
   <arg     if="$(arg standalone)" name="nodelet_manager" value=""/>
 
+  <arg name="custom_config" default="" />
+
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
@@ -38,6 +40,7 @@
     <node pkg="nodelet" type="nodelet" name="vins_republisher" args="$(arg nodelet) vins_republisher/VinsRepublisher $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix_debug)" output="screen">
 
       <rosparam file="$(find mrs_vins_republisher)/config/default.yaml" command="load" />
+      <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" command="load" />
 
       <param name="uav_name" value="$(arg UAV_NAME)"/>