feat: add gps baudrate config to mower_config.sh

src/open_mower/config/mower_config.sh.example

@@ -69,7 +69,10 @@ 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 want to use F9R's sensor fusion, set this to true (you will also need to set DATUM_LAT and DATUM_LONG.
+# If you use a different gps board you maybe want to set a different baudrate.
+export OM_GPS_BAUDRATE="921600"
+
+# 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.
 # IF YOU DONT KNOW WHAT THIS IS, SET IT TO FALSE
 export OM_USE_F9R_SENSOR_FUSION=False

src/open_mower/launch/include/_gps.launch

@@ -13,6 +13,7 @@
           respawn_delay="5">
         <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="$(optenv OM_GPS_BAUDRATE)"/>
         <param name="mode" value="absolute" unless="$(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')"/>