Parameter Yaml

[boitumeloruf]

Currently the camera is configured using a (possibly) long list of launch parameters.

A new feature could be to allow the specification of a separate yaml file (similar to the dynamic or diagnostic parameter file) in which the complete camera parameters are described and which are evaluated in the order as defined in the file. This should be considered as an alternative possibility to the launch parameters to configure a camera.

[rursprung]

this would be nice as it'd also allow re-using the same config for multiple cameras (if they're identical, e.g. in a stereo setup). currently this involves copy & paste

[boitumeloruf]

In case of identical cameras, the use of nested launch files (i.e. one for camera type, that gets included twice for the two cameras of the stereo setup) could also be helpful.

[rursprung]

to be fair: i can also just put it into a small wrapper function in the python launch file and call that to get the launch config for each node (incl. the necessary changes per-camera, e.g. the GUID). so i can already do the re-using now.