auto detect IMU/points topics and acc_scale (#293)

Author: koide3

config/config_ros.json

@@ -14,8 +14,8 @@
   //
   // --- TF config ---
   // GLIM publishes TF subtrees "map -> odom -> base_frame" and "imu -> lidar".
-  // imu_frame_id           : IMU frame ID
-  // lidar_frame_id         : LiDAR frame ID
+  // imu_frame_id           : IMU frame ID (If blank, auto-detected from IMU topic)
+  // lidar_frame_id         : LiDAR frame ID (If blank, auto-detected from points topic)
   // base_frame_id          : Base frame ID. If blank, IMU frame ID is used.
   // odom_frame_id          : Odometry frame ID
   // map_frame_id           : Map frame ID
@@ -52,11 +52,11 @@
     // IMU config
     "imu_time_offset": 0.0,
     "points_time_offset": 0.0,
-    "acc_scale": 1.0,
+    "acc_scale": 0.0, // Auto-detect if zero
     // TF config
-    "imu_frame_id": "imu",
-    "lidar_frame_id": "lidar",
-    "base_frame_id": "",
+    "imu_frame_id": "", // Auto-detect if blank
+    "lidar_frame_id": "", // Auto-detect if blank
+    "base_frame_id": "", // If blank, IMU frame ID is used
     "odom_frame_id": "odom",
     "map_frame_id": "map",
     "publish_imu2lidar": true,

include/glim/util/config.hpp

@@ -19,6 +19,14 @@ class Config {
   Config(const std::string& config_filename);
   virtual ~Config();
 
+  /**
+   * @brief Check if a parameter exists
+   * @param  module_name Module name
+   * @param  param_name  Parameter name
+   * @return             True if the parameter exists, otherwise false
+   */
+  bool has_param(const std::string& module_name, const std::string& param_name) const;
+
   /**
    * @brief Get a parameter
    * @param  module_name Module name

src/glim/util/config.cpp

@@ -26,6 +26,16 @@ Config::Config(const std::string& config_filename) {
 
 Config::~Config() {}
 
+bool Config::has_param(const std::string& module_name, const std::string& param_name) const {
+  const auto& json = std::any_cast<const nlohmann::json&>(config);
+  auto module = json.find(module_name);
+  if (module == json.end()) {
+    return false;
+  }
+
+  return module->find(param_name) != module->end();
+}
+
 void Config::save(const std::string& path) const {
   const auto& json = std::any_cast<const nlohmann::json&>(config);