Capitalize and address some review comments

Signed-off-by: Maria Teresa Ortega <teresa.ortega0903@gmail.com>

Author: teresa-ortega

examples/beluga_launch.py examples/beluga.launch.pyexamples/beluga_launch.py renamed to examples/beluga.launch.py

@@ -17,8 +17,8 @@ def generate_launch_description():
         LaunchDescription: The complete ROS 2 launch description object.
     """
     config_file_arg = DeclareLaunchArgument(
-        "beluga_config_path",
-        default_value="/example/defaul_params.ros.yaml",  # Opcional por defecto
+        "params_file",
+        default_value="/example/defaul_params.ros.yaml",
         description="Absolute YAML file path",
     )
 
@@ -41,10 +41,11 @@ def generate_launch_description():
         name="beluga_amcl",
         output="screen",
         parameters=[
+            LaunchConfiguration("params_file"),
             {
                 "laser_model_type": LaunchConfiguration("laser_model_type"),
                 "max_particles": LaunchConfiguration("max_particles"),
-            }
+            },
         ],
     )
 

src/lambkin/lambkin.py

@@ -5,19 +5,19 @@
 import time
 from pathlib import Path
 
-reference_bag_path = (
+REFERENCE_BAG_PATH = (
     "/ws/rosbags/magazzino_ros2_localization_only/bagfiles/hallway_localization/"
 )
-reference_map_path = "/ws/rosbags/maps/map.yaml"
-num_iterations = 1
-clock_rate = 10
-qos_file_path = "/ws/beluga/beluga_example/bags/qos_override.yaml"
+REFERENCE_MAP_PATH = "/ws/rosbags/maps/map.yaml"
+NUM_ITERATIONS = 1
+CLOCK_RATE = 10
+QOS_FILE_PATH = "/ws/beluga/beluga_example/bags/qos_override.yaml"
 
 
 LASER_MODELS = ["likelihood_field", "beam"]
 NUM_PARTICLES = [1, 10, 100, 1000, 10000]
-CLOCK_RATE_OPTION = ["--clock-rate", str(clock_rate)]
-QOS_OPTION = ["--qos-profile-overrides-path", qos_file_path]
+CLOCK_RATE_OPTION = ["--clock-rate", str(CLOCK_RATE)]
+QOS_OPTION = ["--qos-profile-overrides-path", QOS_FILE_PATH]
 CLOCK_OPTION = "--clock"
 RECORD_TOPICS_INTERESTED = ["/pose", "/tf", "/tf_static"]
 RESULTS_PATH = "/ws/lambkin/benchmarking_results"
@@ -296,9 +296,9 @@ def run_iteration(
 def main():
     """Main loop that orchestrates the benchmarking process."""
     for variation in make_variations():
-        for it in range(num_iterations):
+        for it in range(NUM_ITERATIONS):
             run_iteration(
-                variation, it, reference_map_path, reference_bag_path, DRY_MODE
+                variation, it, REFERENCE_MAP_PATH, REFERENCE_BAG_PATH, DRY_MODE
             )