added gps_threshold param

UBCSailbot · Dec 10, 2023 · 63de7d6 · 63de7d6
1 parent d574b12
commit 63de7d6
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diff --git a/src/global_launch/config/README.md b/src/global_launch/config/README.md
@@ -52,6 +52,12 @@ ROS parameters specific to the nodes in the local_pathfinding package.
 - _Datatype_: `boolean`
 - _Acceptable Values_: `true`, `false`
 
+**`gps_threshold`**
+
+- _Description_: A new path will be generated if the GPS position changed by more than this amount in km.
+- _Datatype_: `double`
+- _Acceptable Values_: `(0.0, MAX_DOUBLE)`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.

diff --git a/src/global_launch/config/globals.yaml b/src/global_launch/config/globals.yaml
@@ -10,6 +10,7 @@ mgp_main:
       global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
       interval_spacing: 30.0
       write: false
+      gps_threshold: 20.0
 
 # boat_simulator parameters
 low_level_control_node: