Load different firmware parameters depending on launch argument

leo_bringup/config/firmware_diff_drive_params.yaml

@@ -0,0 +1,18 @@
+wheels:
+  encoder_resolution: 878.4
+  torque_constant: 1.17647
+  pid:
+    p: 0.0
+    i: 0.005
+    d: 0.0
+  pwm_duty_limit: 100.0
+
+mecanum_wheels: false
+
+controller:
+  wheel_radius: 0.0625
+  wheel_separation: 0.358
+  angular_velocity_multiplier: 1.76
+  input_timeout: 500
+
+battery_min_voltage: 10.0

leo_bringup/config/firmware_mecanum_params.yaml

@@ -0,0 +1,19 @@
+wheels:
+  encoder_resolution: 878.4
+  torque_constant: 1.17647
+  pid:
+    p: 0.0
+    i: 0.005
+    d: 0.0
+  pwm_duty_limit: 100.0
+
+mecanum_wheels: true
+
+controller:
+  wheel_radius: 0.0635
+  wheel_separation: 0.37
+  wheel_base: 0.3052
+  angular_velocity_multiplier: 1.0
+  input_timeout: 500
+
+battery_min_voltage: 10.0

leo_bringup/launch/leo_bringup.launch.xml

@@ -36,8 +36,14 @@
     <param from="$(find-pkg-share leo_bringup)/config/firmware_message_converter.yaml" />
   </node>
 
+  <let if="$(var mecanum_wheels)" name="firmware_default_params_file"
+    value="$(find-pkg-share leo_bringup)/config/firmware_mecanum_params.yaml" />
+  <let unless="$(var mecanum_wheels)" name="firmware_default_params_file"
+    value="$(find-pkg-share leo_bringup)/config/firmware_diff_drive_params.yaml" />
+
   <node pkg="leo_fw" exec="firmware_parameter_bridge">
-    <param name="override_params_file_path" value="$(var firmware_params_file)" />
+    <param name="default_params_file_path" value="$(var firmware_default_params_file)" />
+    <param name="override_params_file_path" value="$(var firmware_override_params_file)" />
   </node>
 
   <node_container namespace=""