198 lines
4.3 KiB
JSON
198 lines
4.3 KiB
JSON
{
|
|
"created_at": "2026-05-29T08:40:51Z",
|
|
"id": "ea89e39c835c0557",
|
|
"imus": [
|
|
{
|
|
"enabled": true,
|
|
"frame_id": "imu_link",
|
|
"id": "719a21772e114466",
|
|
"name": "IMU",
|
|
"rate_hz": 100,
|
|
"source": "external",
|
|
"topic": "imu/data"
|
|
}
|
|
],
|
|
"layout": {
|
|
"imuPoses": {
|
|
"719a21772e114466": {
|
|
"x": 0.06910131801805619,
|
|
"y": 0.8135664703630141,
|
|
"yaw_deg": 0,
|
|
"z": 0.1
|
|
}
|
|
},
|
|
"imuPosesFrame": "robot",
|
|
"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": {
|
|
"bicycle": {
|
|
"display": {
|
|
"L_px": 240.0,
|
|
"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": {
|
|
"max_acceleration": 1.5,
|
|
"max_velocity": 1.7
|
|
},
|
|
"cmd_vel_timeout_s": 0.25,
|
|
"linear": {
|
|
"max_acceleration": 0.8,
|
|
"max_velocity": 1,
|
|
"min_acceleration": -0.8,
|
|
"min_velocity": -0.5
|
|
}
|
|
},
|
|
"wheel_radius_m": 0.3,
|
|
"wheel_radius_multiplier": 1,
|
|
"wheel_separation_m": 1.1,
|
|
"wheel_separation_multiplier": 1,
|
|
"wheels": [
|
|
{
|
|
"id": "left",
|
|
"joint_name": "wheel_left_joint",
|
|
"motor": {
|
|
"gear_ratio": 10,
|
|
"invert": true,
|
|
"model": "m2dc10a",
|
|
"vendor": "moons"
|
|
},
|
|
"side": "left",
|
|
"y_m": 0.55
|
|
},
|
|
{
|
|
"id": "right",
|
|
"joint_name": "wheel_right_joint",
|
|
"motor": {
|
|
"gear_ratio": 10,
|
|
"invert": false,
|
|
"model": "m2dc10a",
|
|
"vendor": "moons"
|
|
},
|
|
"side": "right",
|
|
"y_m": -0.55
|
|
}
|
|
]
|
|
},
|
|
"footprint": [
|
|
{
|
|
"x": 150,
|
|
"y": 120
|
|
},
|
|
{
|
|
"x": 150,
|
|
"y": -120
|
|
},
|
|
{
|
|
"x": -150,
|
|
"y": -120
|
|
},
|
|
{
|
|
"x": -150,
|
|
"y": 120
|
|
}
|
|
],
|
|
"footprint_params": {
|
|
"length_m": 1.5,
|
|
"radius_m": 1,
|
|
"segments": 32,
|
|
"sides": 6,
|
|
"width_m": 1.2
|
|
},
|
|
"footprint_shape": "rectangle",
|
|
"frame_id": "base_footprint",
|
|
"model": "diff",
|
|
"x": 400,
|
|
"y": 300,
|
|
"yaw_deg": 0
|
|
}
|
|
},
|
|
"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": "2026-06-13T07:03:01Z"
|
|
}
|