MOLA system yaml files: added "enabled" optional property for modules…

… and rds visualizers
MOLAorg · Dec 17, 2024 · fff8405 · fff8405
1 parent 8933672
commit fff8405
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/mola_demos/mola-cli-launchs/work-in-progress/rawlog_odom_and_lidar.yaml b/mola_demos/mola-cli-launchs/work-in-progress/rawlog_odom_and_lidar.yaml
@@ -44,7 +44,7 @@ modules:
     # ------------------
   - type: mola::WheelOdometry
     name: wheel_odometry_fe
-    launch_ignore: true
+    enabled: false
     raw_data_source: dataset_input
     raw_sensor_label: ODOMETRY
     params:
@@ -59,7 +59,7 @@ modules:
     # ------------------
   - type: mola::LidarOdometry
     name: lidar_fe
-    launch_ignore: false
+    #enabled: true
     raw_data_source: dataset_input
     raw_sensor_label: SICK_FRONT_OBS
     params:

diff --git a/mola_kernel/src/interfaces/RawDataSourceBase.cpp b/mola_kernel/src/interfaces/RawDataSourceBase.cpp
@@ -72,6 +72,9 @@ void RawDataSourceBase::initialize(const Yaml& cfg)
             const auto win_pos =
                 sensor.getOrDefault<std::string>("win_pos", "");
 
+            // Allow quickly disabling sections:
+            if (!sensor.getOrDefault("enabled", true)) continue;
+
             ASSERTMSG_(
                 sensor_preview_gui_.find(label) == sensor_preview_gui_.end(),
                 mrpt::format(

diff --git a/mola_launcher/src/MolaLauncherApp.cpp b/mola_launcher/src/MolaLauncherApp.cpp
@@ -243,7 +243,7 @@ void MolaLauncherApp::setup(
             ENSURE_YAML_ENTRY_EXISTS(ds, "params");
 
             // Allow quickly disabling sections:
-            if (ds.getOrDefault("launch_ignore", false)) continue;
+            if (!ds.getOrDefault("enabled", true)) continue;
 
             const auto ds_label = ds["name"].as<std::string>();
             ASSERTMSG_(!ds_label.empty(), "`name` cannot be empty!");