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HiepLM
2026-05-29 16:28:13 +07:00
parent 8797fd49d5
commit 8b633edb01
10 changed files with 5576 additions and 1 deletions
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204
data/models/a07ab938d9029ef1.json Normal file
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{
"created_at": "2026-05-29T08:27:25Z",
"id": "a07ab938d9029ef1",
"layout": {
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"02c4b7f4de7bd639": {
"theta_deg": 45,
"x": 215,
"y": 40
},
"1e591c93c581f705": {
"theta_deg": -45,
"x": 215.39984362180326,
"y": -40
},
"242be6d6e782ecdf": {
"theta_deg": 180,
"x": 145,
"y": -0.3738614899159438
}
},
"lidarPosesFrame": "robot",
"lidarPositions": {},
"map": {
"height": 600,
"width": 800
},
"robot": {
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"display": {
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"r_px": 60.0,
"scale_m_per_px": 0.005
},
"drive": {
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},
"limits": {
"cmd_vel_timeout_s": 0.25,
"linear": {
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"max_velocity": 1
}
},
"steer": {
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"max_angle_deg": 60,
"preview_deg": 15
},
"wheel_radius_m": 0.15,
"wheelbase_m": 1.2,
"wheels": [
{
"id": "rear",
"joint_name": "rear_wheel_joint",
"motor": {
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"invert": false,
"model": "m2dc10a",
"vendor": "moons"
},
"role": "drive",
"x_m": 0,
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},
{
"id": "front",
"joint_name": "front_steer_joint",
"motor": {
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"invert": false,
"model": "m2dc10a",
"vendor": "moons"
},
"role": "steer",
"x_m": 1.2,
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}
]
},
"diff": {
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"scale_m_per_px": 0.005
},
"limits": {
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},
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"linear": {
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}
},
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"wheels": [
{
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},
"side": "left",
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},
{
"id": "right",
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"model": "m2dc10a",
"vendor": "moons"
},
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}
]
},
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},
{
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{
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{
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{
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{
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{
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],
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"segments": 32,
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"width_m": 1.28
},
"footprint_shape": "custom",
"frame_id": "base_footprint",
"model": "bicycle",
"x": 400,
"y": 300,
"yaw_deg": 0
}
},
"lidars": [
{
"id": "02c4b7f4de7bd639",
"ip": "192.168.1.11",
"name": "Front",
"port": 2112
},
{
"id": "1e591c93c581f705",
"ip": "192.168.1.12",
"name": "Back",
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},
{
"id": "242be6d6e782ecdf",
"ip": "192.168.1.15",
"name": "Oile",
"port": 2112
}
],
"name": "Mặc định",
"updated_at": "2026-05-29T08:39:03Z"
}

177
data/models/ea89e39c835c0557.json Normal file
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{
"created_at": "2026-05-29T08:40:51Z",
"id": "ea89e39c835c0557",
"layout": {
"lidarPoses": {
"40235913b52d8101": {
"theta_deg": -135,
"x": -120,
"y": -90
},
"f4504deeb605e6ed": {
"theta_deg": 45,
"x": 120,
"y": 90
}
},
"lidarPosesFrame": "robot",
"lidarPositions": {},
"map": {
"height": 600,
"width": 800
},
"robot": {
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"r_px": 60.0,
"scale_m_per_px": 0.005
},
"drive": {
"joint_name": "rear_wheel_joint"
},
"limits": {
"cmd_vel_timeout_s": 0.25,
"linear": {
"max_acceleration": 0.8,
"max_velocity": 1
}
},
"steer": {
"joint_name": "front_steer_joint",
"max_angle_deg": 60,
"preview_deg": 15
},
"wheel_radius_m": 0.15,
"wheelbase_m": 1.2,
"wheels": [
{
"id": "rear",
"joint_name": "rear_wheel_joint",
"motor": {
"gear_ratio": 20,
"invert": false,
"model": "m2dc10a",
"vendor": "moons"
},
"role": "drive",
"x_m": 0,
"y_m": 0
},
{
"id": "front",
"joint_name": "front_steer_joint",
"motor": {
"gear_ratio": 20,
"invert": false,
"model": "m2dc10a",
"vendor": "moons"
},
"role": "steer",
"x_m": 1.2,
"y_m": 0
}
]
},
"diff": {
"b": 220.0,
"d": 120.0,
"display": {
"b_px": 220.0,
"d_px": 120.0,
"scale_m_per_px": 0.005
},
"limits": {
"angular": {
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"max_velocity": 1.7
},
"cmd_vel_timeout_s": 0.25,
"linear": {
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"min_acceleration": -0.8,
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}
},
"wheel_radius_m": 0.3,
"wheel_radius_multiplier": 1,
"wheel_separation_m": 1.1,
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"wheels": [
{
"id": "left",
"joint_name": "wheel_left_joint",
"motor": {
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"invert": true,
"model": "m2dc10a",
"vendor": "moons"
},
"side": "left",
"y_m": 0.55
},
{
"id": "right",
"joint_name": "wheel_right_joint",
"motor": {
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"invert": false,
"model": "m2dc10a",
"vendor": "moons"
},
"side": "right",
"y_m": -0.55
}
]
},
"footprint": [
{
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},
{
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{
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},
{
"x": -150,
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}
],
"footprint_params": {
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"segments": 32,
"sides": 6,
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},
"footprint_shape": "rectangle",
"frame_id": "base_footprint",
"model": "diff",
"x": 400,
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}
},
"lidars": [
{
"id": "f4504deeb605e6ed",
"ip": "192.168.1.11",
"name": "Front",
"port": 2112
},
{
"id": "40235913b52d8101",
"ip": "192.168.1.11",
"name": "Back",
"port": 2112
}
],
"name": "T800",
"updated_at": "2026-05-29T08:44:03Z"
}

22
data/state.json Normal file
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{
"active_layout_id": "a07ab938d9029ef1",
"layouts": [
{
"created_at": "2026-05-29T08:27:25Z",
"id": "a07ab938d9029ef1",
"lidar_count": 3,
"model": "bicycle",
"name": "Mặc định",
"updated_at": "2026-05-29T08:39:03Z"
},
{
"created_at": "2026-05-29T08:40:51Z",
"id": "ea89e39c835c0557",
"lidar_count": 2,
"model": "diff",
"name": "T800",
"updated_at": "2026-05-29T08:44:03Z"
}
],
"version": 3
}