Addition of Global Parameters for Mock Global Path Node (#221)

* added filepath and interval space
parameters to global params

* updated readme

* Fix node name

* updated readme
interval_spacing need only be a float

---------

Co-authored-by: Patrick Creighton <pcreighton429@gmail.com>

src/global_launch/config/README.md

@@ -28,6 +28,24 @@ ROS parameters common across all ROS nodes in the network.
 - _Datatype_: `double`
 - _Range_: `(0.0, MAX_DOUBLE)`
 
+## Local Pathfinding Parameters
+
+ROS parameters specific to the nodes in the local_pathfinding package.
+
+### `mgp_main`
+
+**`global_path_filepath`**
+
+- _Description_: The absolute filepath to a global path csv file.
+- _Datatype_: `string`
+- _Acceptable Values_: Any valid filepath to a properly formatted csv file.
+
+**`interval_spacing`**
+
+- _Description_: The upper bound on spacing between each point in the global path in km.
+- _Datatype_: `float`
+- _Range_: `(0.0, MAX_DOUBLE)`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.

src/global_launch/config/globals.yaml

@@ -1,8 +1,15 @@
+# global parameters
 /**:
    ros__parameters:
       # Publishers' period (seconds): how often the publishers publish
       pub_period_sec: 0.5
 
+# local_pathfinding parameters
+mgp_main:
+   ros__parameters:
+      global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
+      interval_spacing: 30.0
+
 # boat_simulator parameters
 low_level_control_node:
    ros__parameters: