feat: add gps baudrate config to mower_config.sh

src/open_mower/config/mower_config.sh.example

@@ -88,8 +88,12 @@ export OM_USE_RELATIVE_POSITION=False
 # GPS protocol. Use UBX for u-blox chipsets and NMEA for everything else
 export OM_GPS_PROTOCOL=UBX
 
-# If you use a different gps board you maybe want to set a different baudrate.
-export OM_GPS_BAUDRATE="921600"
+# If you use a different gps board setup you maybe want to set a different port and/or baudrate.
+# For example to use an Ardusimple simpleRTK with USB connection:
+# OM_GPS_PORT="/dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00"
+# You can obtain your usb gps path by executing "ls -l /dev/serial/by-id/*" and look for your gps there.
+# export OM_GPS_BAUDRATE="921600"
+# export OM_GPS_PORT="/dev/..."
 
 # If you want to use F9R's sensor fusion, set this to true (you will also need to set DATUM_LAT and DATUM_LONG).
 # Consider this option unstable, since I don't have the F9R anymore, so I'm not able to test this.

src/open_mower/launch/include/_gps.launch

@@ -14,6 +14,7 @@
         <rosparam if="$(eval env('OM_MOWER')=='CUSTOM')" file="$(env HOME)/mower_params/gps_params.yaml"/>
         <rosparam unless="$(eval env('OM_MOWER')=='CUSTOM')" file="$(find open_mower)/params/hardware_specific/$(env OM_MOWER)/comms_gps_params.yaml"/>
         <param if="$(eval optenv('OM_GPS_BAUDRATE')!='')" name="baudrate" value="$(optenv OM_GPS_BAUDRATE)"/>
+        <param if="$(eval optenv('OM_GPS_PORT')!='')" name="serial_port" value="$(optenv OM_GPS_PORT)"/>
         <param name="mode" value="absolute" unless="$(env OM_USE_RELATIVE_POSITION)"/>
         <param name="mode" value="relative" if="$(env OM_USE_RELATIVE_POSITION)"/>
         <param name="ubx_mode" value="$(eval optenv('OM_GPS_PROTOCOL','UBX')=='UBX')"/>