Added a write parameter for the Mock Global Path node

src/global_launch/config/README.md

@@ -43,9 +43,27 @@ ROS parameters specific to the nodes in the local_pathfinding package.
 **`interval_spacing`**
 
 - _Description_: The upper bound on spacing between each point in the global path in km.
-- _Datatype_: `float`
+- _Datatype_: `double`
 - _Range_: `(0.0, MAX_DOUBLE)`
 
+**`write`**
+
+- _Description_: Whether or not to write a generated global path to a new csv file.
+- _Datatype_: `boolean`
+- _Acceptable Values_: `true`, `false`
+
+**`gps_threshold`**
+
+- _Description_: A new path will be generated if the GPS position changed by more thangps_threshold*interval_spacing.
+- _Datatype_: `double`
+- _Acceptable Values_: `(1.0, MAX_DOUBLE)`
+
+**`force`**
+
+- _Description_: Force the mock global path callback to update the global path when set to true.
+- _Datatype_: `boolean`
+- _Acceptable Values_: `true`, `false`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.

src/global_launch/config/globals.yaml

@@ -9,6 +9,9 @@ mgp_main:
    ros__parameters:
       global_path_filepath: "/workspaces/sailbot_workspace/src/local_pathfinding/global_paths/mock_global_path.csv"
       interval_spacing: 30.0
+      write: false
+      gps_threshold: 1.5
+      force: false
 
 # boat_simulator parameters
 low_level_control_node: