Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/Configuration/SensorConfiguration.cs

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+using RobotNet10.Shared.Geometry;
+
+namespace RobotNet10.RobotApp.SLAM.Cartographer;
+
+/// <summary>
+/// Sensor configuration
+/// </summary>
+public class SensorConfiguration
+{
+    /// <summary>
+    /// Lidar sensor configurations (multiple lidars supported)
+    /// </summary>
+    public List<LidarSensorConfiguration> Lidars { get; set; } = [];
+
+    /// <summary>
+    /// IMU sensor configuration (only one IMU supported by CartographerSharp)
+    /// </summary>
+    public ImuSensorConfiguration Imu { get; set; } = new();
+
+    /// <summary>
+    /// Sampling ratio for sensor data (0.0 to 1.0)
+    /// - 1.0 = process all messages (default)
+    /// - 0.5 = process 50% of messages
+    /// - 0.0 = process no messages
+    /// Based on xloc flow: sampling ratio to reduce message overload
+    /// </summary>
+    public double? SamplingRatio { get; set; }
+
+    /// <summary>
+    /// Sampling ratio for Lidar data (overrides global SamplingRatio if set)
+    /// </summary>
+    public double? LidarSamplingRatio { get; set; }
+
+    /// <summary>
+    /// Sampling ratio for IMU data (overrides global SamplingRatio if set)
+    /// </summary>
+    public double? ImuSamplingRatio { get; set; }
+
+    /// <summary>
+    /// Sampling ratio for Odometry data (overrides global SamplingRatio if set)
+    /// </summary>
+    public double? OdometrySamplingRatio { get; set; }
+
+    /// <summary>
+    /// Odometry update interval in milliseconds.
+    /// Odometry is polled at this interval from the odometry estimator.
+    /// Default: 5ms (200Hz). Lower values = higher frequency, more CPU usage.
+    /// Recommended: 5-20ms (50-200Hz)
+    /// </summary>
+    public int OdometryUpdateIntervalMs { get; set; } = 5;
+
+    /// <summary>
+    /// IMU update interval in milliseconds.
+    /// IMU data is processed at this minimum interval (rate limiting).
+    /// Default: 5ms (200Hz). Set to 0 to process all IMU events without rate limiting.
+    /// Recommended: 0-10ms (100Hz-unlimited)
+    /// </summary>
+    public int ImuUpdateIntervalMs { get; set; } = 5;
+}
+
+/// <summary>
+/// Lidar sensor configuration
+/// </summary>
+public class LidarSensorConfiguration
+{
+    /// <summary>
+    /// Device ID from IDeviceProvider
+    /// </summary>
+    public string DeviceId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Enable or disable this lidar
+    /// </summary>
+    public bool Enabled { get; set; } = true;
+
+    /// <summary>
+    /// Transform from lidar frame to base_link frame
+    /// </summary>
+    public Transform Transform { get; set; }
+
+    /// <summary>
+    /// Minimum angle for filtering point cloud (degrees).
+    /// Points with angle less than this will be filtered out.
+    /// If null, no minimum angle filtering is applied.
+    /// </summary>
+    public double? AngleMin { get; set; }
+
+    /// <summary>
+    /// Maximum angle for filtering point cloud (degrees).
+    /// Points with angle greater than this will be filtered out.
+    /// If null, no maximum angle filtering is applied.
+    /// </summary>
+    public double? AngleMax { get; set; }
+}
+
+/// <summary>
+/// IMU sensor configuration
+/// </summary>
+public class ImuSensorConfiguration
+{
+    /// <summary>
+    /// Device ID from IDeviceProvider
+    /// </summary>
+    public string DeviceId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Enable or disable this IMU
+    /// </summary>
+    public bool Enabled { get; set; } = false;
+
+    /// <summary>
+    /// Transform from IMU frame to base_link frame
+    /// </summary>
+    public Transform Transform { get; set; }
+}