update reconnect imu

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json

@@ -464,7 +464,7 @@
     "HinsonLidar": 
     {
       "Enabled": true,
-      "DeviceId": "lidar-hinson-front",
+      "DeviceId": "scan",
       "DeviceName": "Hinson FE-35FB-01000",
       "DeviceType": "Lidar",
       "DriverName": "HinsonFE35LidarDriver",
@@ -472,7 +472,7 @@
       "Connection": {
         "IpAddress": "192.168.100.88",
         "Port": 8080,
-        "FrameId": "hinson-front",
+        "FrameId": "scan_1",
         "MaxRangeM": 35.0
       }
     },
@@ -961,10 +961,10 @@
       "ImuSensorId": "imu",
       "ImuFrameId": "imu",
       "EnableLidar1": true,
-      "EnableLidar2": true,
+      "EnableLidar2": false,
       "EnableLidar3": false,
-      "Lidar1DeviceId": "scan_1",
-      "Lidar1SensorId": "scan_1",
+      "Lidar1DeviceId": "scan",
+      "Lidar1SensorId": "scan",
       "Lidar2DeviceId": "scan_2",
       "Lidar2SensorId": "scan_2",
       "Lidar3DeviceId": "scan_3",
@@ -977,7 +977,7 @@
   },
   "Navigation": {
     "Integration": {
-      "Enabled": true,
+      "Enabled": false,
       "UpdateIntervalMs": 100,
       "EnableNavigationIntegration": true,
       "EnableOdometryDispatch": true,
@@ -1024,7 +1024,7 @@
     "Integration": {
       "Enabled": false,
       "MarkerType": "Segment",
-      "LidarDeviceId": "scan_1",
+      "LidarDeviceId": "scan",
       "LaserScanSensorId": "scan",
       "LaserScanDispatchIntervalMs": 50,
       "RectangleMarkerOptions": {
@@ -1074,7 +1074,7 @@
       },
       {
         "FrameId": "base_link",
-        "ChildFrameId": "scan_1",
+        "ChildFrameId": "scan",
         "Pose": {
           "Position": { "X": 0.095, "Y": 0.01, "Z": 0.0 },
           "Orientation": { "X": 0.0, "Y": 0.0, "Z": 0.0261769, "W": 0.9996573 }