{
  "Devices": {
    // "Oleilidar": {
    //   "DeviceId": "olei-front",
    //   "Enabled": false,
    //   "DeviceName": "Olei",
    //   "DeviceType": "Lidar",
    //   "DriverName": "Olei2dLidarDriver",
    //   "DriverVersion": "1.0.0",
    //   "Description": "Olei Safety Scanner LiDAR with custom scan angle configuration",
    //   "Connection": {
    //     "UdpPort": 2369,
    //     "FrameId": "olei-front"
    //   }
    // }
  },
  "Cartographer": {
    "Enable": false,
    "MapStorage": {
      "Directory": "./bin/maps",
      "OccupancyGridResolution": 0.05,
      "MapPadding": 0.5,
      "PngVisualizationOptions": {
        "ShowGrid": true,
        "ShowTrajectory": true,
        "GridColor": "#CCCCCC",
        "TrajectoryColor": "#FF0000"
      }
    }
  },
  "Detection": {
    "MarkerDetector": {
      "LidarDevices": [
        {
          "DeviceId": "olei-front",
          "Position": {
            "X": 0.85,
            "Y": 0.0,
            "Z": 0.0
          },
          "Orientation": {
            "X": 0.0,
            "Y": 0.0,
            "Z": 0.0,
            "W": 1.0
          }
        }
      ],
      "QrDevices": []
    }
  }
}