From f14320c900e50a63e1dd6dd2d72b1145ea3ee1f8 Mon Sep 17 00:00:00 2001
From: Facundo Garcia <facundogcd@gmail.com>
Date: Thu, 4 Jun 2026 11:47:37 +0200
Subject: [PATCH 1/2] Added config dir support

---
 fixposition_driver_ros1/launch/dev.launch  | 18 +++++++++++++-----
 fixposition_driver_ros1/launch/node.launch | 19 ++++++++++++++-----
 fixposition_driver_ros2/launch/dev.launch  | 10 ++++++----
 fixposition_driver_ros2/launch/node.launch | 10 ++++++----
 4 files changed, 39 insertions(+), 18 deletions(-)

diff --git a/fixposition_driver_ros1/launch/dev.launch b/fixposition_driver_ros1/launch/dev.launch
index e27f4cda..ea86571f 100644
--- a/fixposition_driver_ros1/launch/dev.launch
+++ b/fixposition_driver_ros1/launch/dev.launch
@@ -1,9 +1,17 @@
 <launch>
-    <arg name="node_name"   default="fixposition_driver_ros1" doc="Node name"/>
-    <arg name="config"      default="config.yaml"             doc="Configuration file to use"/>
-    <arg name="launcher"    default=""                        doc="Launch node via this (node launch-prefix)"/>
+    <arg name="node_name"  default="fixposition_driver_ros1"                 doc="Node name"/>
+    <arg name="config"     default="config.yaml"                             doc="Configuration YAML filename"/>
+    <arg name="config_dir" default="$(find fixposition_driver_ros1)/launch"  doc="Directory containing the configuration file"/>
+    <arg name="launcher"   default=""                                        doc="Launch node via this (node launch-prefix)"/>
+
     <env name="ROSCONSOLE_CONFIG_FILE" value="$(find fixposition_driver_ros1)/launch/rosconsole_dev.conf"/>
-    <node name="$(arg node_name)" pkg="fixposition_driver_ros1" type="fixposition_driver_ros1" output="screen" respawn="false" launch-prefix="$(arg launcher)">
-        <rosparam command="load" file="$(find fixposition_driver_ros1)/launch/$(arg config)"/>
+    
+    <node name="$(arg node_name)"
+          pkg="fixposition_driver_ros1"
+          type="fixposition_driver_ros1"
+          output="screen"
+          respawn="false"
+          launch-prefix="$(arg launcher)">
+        <rosparam command="load" file="$(arg config_dir)/$(arg config)"/>
     </node>
 </launch>
diff --git a/fixposition_driver_ros1/launch/node.launch b/fixposition_driver_ros1/launch/node.launch
index 9cf67aa3..f3dbd1d0 100644
--- a/fixposition_driver_ros1/launch/node.launch
+++ b/fixposition_driver_ros1/launch/node.launch
@@ -1,9 +1,18 @@
 <launch>
-    <arg name="node_name"   default="fixposition_driver_ros1" doc="Node name"/>
-    <arg name="config"      default="config.yaml"             doc="Configuration file to use"/>
-    <arg name="launcher"    default=""                        doc="Launch node via this (node launch-prefix)"/>
+    <arg name="node_name"  default="fixposition_driver_ros1"                 doc="Node name"/>
+    <arg name="config"     default="config.yaml"                             doc="Configuration YAML filename"/>
+    <arg name="config_dir" default="$(find fixposition_driver_ros1)/launch"  doc="Directory containing the configuration file"/>
+    <arg name="launcher"   default=""                                        doc="Launch node via this (node launch-prefix)"/>
+
     <env name="ROSCONSOLE_CONFIG_FILE" value="$(find fixposition_driver_ros1)/launch/rosconsole.conf"/>
-    <node name="$(arg node_name)" pkg="fixposition_driver_ros1" type="fixposition_driver_ros1" output="screen" respawn="true" respawn_delay="5" launch-prefix="$(arg launcher)">
-        <rosparam command="load" file="$(find fixposition_driver_ros1)/launch/$(arg config)"/>
+    
+    <node name="$(arg node_name)"
+          pkg="fixposition_driver_ros1"
+          type="fixposition_driver_ros1"
+          output="screen"
+          respawn="true"
+          respawn_delay="5"
+          launch-prefix="$(arg launcher)">
+        <rosparam command="load" file="$(arg config_dir)/$(arg config)"/>
     </node>
 </launch>
diff --git a/fixposition_driver_ros2/launch/dev.launch b/fixposition_driver_ros2/launch/dev.launch
index 01d4c93a..acdb2a7d 100644
--- a/fixposition_driver_ros2/launch/dev.launch
+++ b/fixposition_driver_ros2/launch/dev.launch
@@ -1,12 +1,14 @@
 <!-- https://design.ros2.org/articles/roslaunch_xml.html -->
 <launch>
-    <arg name="node_name"   default="fixposition_driver_ros2" description="Node name"/> <!--  -->
-    <arg name="config"      default="config.yaml"             description="Configuration file to use"/>
-    <arg name="launcher"    default=""                        description="Launch node via this (node launch-prefix)"/>
+    <arg name="node_name"   default="fixposition_driver_ros2"                          description="Node name"/>
+    <arg name="config"      default="config.yaml"                                      description="Configuration YAML filename"/>
+    <arg name="config_dir"  default="$(find-pkg-share fixposition_driver_ros2)/launch" description="Directory containing the configuration file"/>
+    <arg name="launcher"    default=""                                                 description="Launch node via this (node launch-prefix)"/>
+
     <node name="$(var node_name)" pkg="fixposition_driver_ros2" exec="fixposition_driver_ros2_exec"
         output="screen" respawn="true" respawn_delay="5" launch-prefix="$(var launcher)"
         ros_args="--log-level $(var node_name):=debug">
-        <param from="$(find-pkg-share fixposition_driver_ros2)/launch/$(var config)"/>
+        <param from="$(var config_dir)/$(var config)"/>
         <param name="some_numeric_param" value="100.2"/>
     </node>
 </launch>
diff --git a/fixposition_driver_ros2/launch/node.launch b/fixposition_driver_ros2/launch/node.launch
index d10ca731..551bbc90 100644
--- a/fixposition_driver_ros2/launch/node.launch
+++ b/fixposition_driver_ros2/launch/node.launch
@@ -1,12 +1,14 @@
 <!-- https://design.ros2.org/articles/roslaunch_xml.html -->
 <launch>
-    <arg name="node_name"   default="fixposition_driver_ros2" description="Node name"/> <!--  -->
-    <arg name="config"      default="config.yaml"             description="Configuration file to use"/>
-    <arg name="launcher"    default=""                        description="Launch node via this (node launch-prefix)"/>
+    <arg name="node_name"   default="fixposition_driver_ros2"                          description="Node name"/>
+    <arg name="config"      default="config.yaml"                                      description="Configuration YAML filename"/>
+    <arg name="config_dir"  default="$(find-pkg-share fixposition_driver_ros2)/launch" description="Directory containing the configuration file"/>
+    <arg name="launcher"    default=""                                                 description="Launch node via this (node launch-prefix)"/>
+
     <node name="$(var node_name)" pkg="fixposition_driver_ros2" exec="fixposition_driver_ros2_exec"
         output="screen" respawn="true" respawn_delay="5" launch-prefix="$(var launcher)"
         ros_args="--log-level $(var node_name):=info">
-        <param from="$(find-pkg-share fixposition_driver_ros2)/launch/$(var config)"/>
+        <param from="$(var config_dir)/$(var config)"/>
         <param name="some_numeric_param" value="100.2"/>
     </node>
 </launch>

From 13b96a606890204d7adb3481100413497ab9af1a Mon Sep 17 00:00:00 2001
From: Facundo Garcia <facundo.garcia@fixposition.com>
Date: Thu, 18 Jun 2026 13:47:43 +0200
Subject: [PATCH 2/2] Added missing pre-commit

---
 fixposition_driver_ros1/launch/dev.launch  | 2 +-
 fixposition_driver_ros1/launch/node.launch | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fixposition_driver_ros1/launch/dev.launch b/fixposition_driver_ros1/launch/dev.launch
index ea86571f..dd94007a 100644
--- a/fixposition_driver_ros1/launch/dev.launch
+++ b/fixposition_driver_ros1/launch/dev.launch
@@ -5,7 +5,7 @@
     <arg name="launcher"   default=""                                        doc="Launch node via this (node launch-prefix)"/>
 
     <env name="ROSCONSOLE_CONFIG_FILE" value="$(find fixposition_driver_ros1)/launch/rosconsole_dev.conf"/>
-    
+
     <node name="$(arg node_name)"
           pkg="fixposition_driver_ros1"
           type="fixposition_driver_ros1"
diff --git a/fixposition_driver_ros1/launch/node.launch b/fixposition_driver_ros1/launch/node.launch
index f3dbd1d0..8ffe9e57 100644
--- a/fixposition_driver_ros1/launch/node.launch
+++ b/fixposition_driver_ros1/launch/node.launch
@@ -5,7 +5,7 @@
     <arg name="launcher"   default=""                                        doc="Launch node via this (node launch-prefix)"/>
 
     <env name="ROSCONSOLE_CONFIG_FILE" value="$(find fixposition_driver_ros1)/launch/rosconsole.conf"/>
-    
+
     <node name="$(arg node_name)"
           pkg="fixposition_driver_ros1"
           type="fixposition_driver_ros1"