config.yaml

This is a configuration file that contains system/sensor configuration file paths.

By default, this file has the following:

config_system: "config_system.yaml"
config_simulation: "config_simulation.yaml"
config_estimator: "config_estimator.yaml"
config_camera: "config_camera.yaml"
config_gps: "config_gps.yaml"
config_imu: "config_imu.yaml"
config_lidar: "config_lidar.yaml"
config_vicon: "config_vicon.yaml"
config_wheel: "config_wheel.yaml"
config_init: "config_init.yaml"

The must-have list should be:

config_system: "config_system.yaml"
config_estimator: "config_estimator.yaml"
config_imu: "config_imu.yaml"
config_init: "config_init.yaml"

The name of variables (e.g., config_system) should not change but the path to files (e.g., 'config_system.yaml') may change to the actual location of the files.

Other than the IMU configuration file ('config_imu'), those not included sensors will be automatically disabled.