225 lines
5.0 KiB
JSON
225 lines
5.0 KiB
JSON
{
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"created_at": "2026-05-29T08:27:25Z",
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"id": "a07ab938d9029ef1",
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"imus": [
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{
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"enabled": true,
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"frame_id": "imu_link",
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"id": "f7ddb6d2c3c1c5cf",
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"name": "IMU test",
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"rate_hz": 100,
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"source": "onboard",
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"topic": "imu/data"
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}
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],
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"layout": {
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"imuPoses": {
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"f7ddb6d2c3c1c5cf": {
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"x": 196.14886948882076,
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"y": 0.1286840744156286,
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"yaw_deg": 0,
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"z": 0.1
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}
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},
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"imuPosesFrame": "robot",
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"lidarPoses": {
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"02c4b7f4de7bd639": {
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"theta_deg": 45,
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"x": 215,
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"y": 40
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},
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"1e591c93c581f705": {
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"theta_deg": -45,
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"x": 215.39984362180326,
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"y": -40
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},
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"242be6d6e782ecdf": {
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"theta_deg": 180,
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"x": 145,
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"y": -0.3738614899159438
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}
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},
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"lidarPosesFrame": "robot",
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"lidarPositions": {},
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"map": {
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"height": 600,
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"width": 800
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},
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"robot": {
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"bicycle": {
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"display": {
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"L_px": 240.0,
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"r_px": 60.0,
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"scale_m_per_px": 0.005
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},
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"drive": {
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"joint_name": "rear_wheel_joint"
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},
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"limits": {
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"cmd_vel_timeout_s": 0.25,
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"linear": {
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"max_acceleration": 0.8,
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"max_velocity": 1
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}
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},
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"steer": {
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"joint_name": "front_steer_joint",
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"max_angle_deg": 60,
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"preview_deg": 15
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},
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"wheel_radius_m": 0.15,
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"wheelbase_m": 1.2,
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"wheels": [
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{
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"id": "rear",
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"joint_name": "rear_wheel_joint",
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"motor": {
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"gear_ratio": 20,
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"invert": false,
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"model": "m2dc10a",
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"vendor": "moons"
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},
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"role": "drive",
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"x_m": 0,
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"y_m": 0
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},
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{
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"id": "front",
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"joint_name": "front_steer_joint",
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"motor": {
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"gear_ratio": 20,
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"invert": false,
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"model": "m2dc10a",
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"vendor": "moons"
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},
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"role": "steer",
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"x_m": 1.2,
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"y_m": 0
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}
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]
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},
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"diff": {
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"b": 200.0,
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"d": 120.0,
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"display": {
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"b_px": 200.0,
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"d_px": 120.0,
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"scale_m_per_px": 0.005
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},
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"limits": {
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"angular": {
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"max_acceleration": 1.5,
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"max_velocity": 1.7
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},
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"cmd_vel_timeout_s": 0.25,
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"linear": {
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"max_acceleration": 0.8,
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"max_velocity": 1,
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"min_acceleration": -0.4,
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"min_velocity": -0.5
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}
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},
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"wheel_radius_m": 0.3,
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"wheel_radius_multiplier": 1,
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"wheel_separation_m": 1,
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"wheel_separation_multiplier": 1,
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"wheels": [
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{
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"id": "left",
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"joint_name": "wheel_left_joint",
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"motor": {
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"gear_ratio": 20,
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"invert": false,
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"model": "m2dc10a",
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"vendor": "moons"
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},
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"side": "left",
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"y_m": 0.5
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},
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{
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"id": "right",
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"joint_name": "wheel_right_joint",
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"motor": {
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"gear_ratio": 20,
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"invert": false,
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"model": "m2dc10a",
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"vendor": "moons"
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},
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"side": "right",
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"y_m": -0.5
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}
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]
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},
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"footprint": [
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{
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"x": 249.49596246923238,
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"y": 76.53128468019501
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},
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{
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"x": 252.05138984920825,
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"y": -73.40426803273583
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},
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{
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"x": 146.0988213814129,
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"y": -73.14624094113161
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},
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{
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"x": 146.4579317148541,
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"y": -36.76005121552378
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},
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{
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"x": -24.190052366845578,
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"y": -36.232153738354725
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},
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{
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"x": -23.18092513013994,
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"y": 31.895774646867324
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},
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{
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"x": 149.1507088069675,
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"y": 31.363038836025066
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},
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{
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"x": 148.2973527630072,
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"y": 77.68471811183447
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}
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],
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"footprint_params": {
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"length_m": 1.69,
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"radius_m": 0.8432486399759678,
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"segments": 32,
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"sides": 6,
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"width_m": 1.28
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},
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"footprint_shape": "custom",
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"frame_id": "base_footprint",
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"model": "bicycle",
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"x": 400,
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"y": 300,
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"yaw_deg": 0
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}
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},
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"lidars": [
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{
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"id": "02c4b7f4de7bd639",
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"ip": "192.168.1.11",
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"name": "Front",
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"port": 2112
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},
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{
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"id": "1e591c93c581f705",
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"ip": "192.168.1.12",
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"name": "Back",
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"port": 2112
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},
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{
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"id": "242be6d6e782ecdf",
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"ip": "192.168.1.15",
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"name": "Oile",
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"port": 2112
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}
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],
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"name": "Mặc định",
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"updated_at": "2026-05-29T10:09:07Z"
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}
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