Generic robot parameter loading for multiple robots.
I currently have a package which subscribes to multiple robots. I wish to use a more generic solution where I use bind to generate the callback for each robot listed in the .yaml file. Example how I would like to parse the parameters:
Robot_parameters:
name: Robot1
scan_topic_name: r2/scan
sensor_frame: r1/lidar_link
base_link_frame: r1/base_link
name: Robot2
scan_topic_name: r2/scan
sensor_frame: r2/lidar_link
base_link_frame: r2/base_link
.
.
.
name: a_robot_name
scan_topic_name: topic_name
sensor_frame: some_frame_name
base_link_frame: another_frame_name
Looking for a good method to load these files. I can do this no-problem by loading a normal .txt file but I wanna do this in a "ROS" fashion by keeping it on the parameter server somehow. I wish to iterate over these parameters and bind these variables to callbacks for the N amount of robots.
I believe this might be the answer to my question