Use Parameters in Launch file

[luca-byte]

Launch file

The launch file should perform the following operations:

• receive a yaml config file name from the command line OR use a predefined configuration file
• search the config file in the share directory
• parse the config file and pass the relevant parameters to the nodes
• launch the EnEA node conditionally to the version of the robot in the config file version: "mk1"

Complementary tasks

• nodes declare their parameters and receive them from the launch file
• move the parameters from the constants file to the config files
• update parameters (d, req, these) according to measures (Meeting 17/04/2024)
• Create three config files (two mk1, one (default) with can1, one with vcan0; one mk2 with vcan0) (look at branch dev-digital-twin)

Future tasks (won't fix)

• define a way to launch nodes one by one
• consider variability in CAN-to-ROS topics depending on version
• consider variability in the scaler node