{
  "Devices": {
    "MBDV_Servo01": {
      "DeviceId": "right-wheel",
      "Enabled": true,
      "DeviceType": "CiA402Servo",
      "DeviceName": "Right Wheel Servo",
      "DriverName": "CiA402Servo",
      "DriverVersion": "1.0.0",
      "Description": "Right Wheel servo motor",
      "Connection": {
        "CanInterface": "can0",
        "NodeId": "1",
        "AutoReconnectEnabled": true,
        "ReconnectDelayMs": 3000,
        "MaxReconnectAttempts": 0,
        "PdoConfigRetryCount": 3,
        "PdoConfigRetryTimeoutMs": 1000,
        "UseHeartbeatCheck": true,
        "AllowedHomingMethods": [],
        "PdoMappings": {
          "_Comment": "CiA402 Object Dictionary Index Definitions: 0x6040=Controlword[WO UINT16] - State machine control (Enable/Disable/Fault Reset), 0x6041=Statusword[RO UINT16] - Motor status (Ready/Enabled/Fault), 0x6060=ModesOfOperation[RW INT8] - Operation mode (1=PP/3=PV/4=PT/6=HM/8=CSP/9=CSV/10=CST), 0x6061=ModesOfOperationDisplay[RO INT8] - Current active mode, 0x6064=PositionActualValue[RO INT32] - Actual position (encoder counts), 0x606C=VelocityActualValue[RO INT32] - Actual velocity (user units/s), 0x6071=TargetTorque[RW INT16] - Target torque (per-mille of rated torque), 0x607A=TargetPosition[RW INT32] - Target position (Profile Position mode), 0x6081=ProfileVelocity[RW UINT32] - Max profile velocity (user units/s), 0x6083=ProfileAcceleration[RW UINT32] - Profile acceleration (user units/s²), 0x6084=ProfileDeceleration[RW UINT32] - Profile deceleration (user units/s²), 0x60FF=TargetVelocity[RW INT32] - Target velocity (Profile Velocity mode). Wheel motors use Profile Velocity mode (mode 3).",
          "RPDO1": [
            {
              "Index": "0x6040",
              "_Description": "Controlword - State machine control (Enable/Disable/Fault Reset/Quick Stop)",
              "SubIndex": 0,
              "BitLength": 16
            },
            {
              "Index": "0x6060",
              "_Description": "Modes of Operation - Operation mode (1=PP/3=PV/4=PT/6=HM/8=CSP/9=CSV/10=CST)",
              "SubIndex": 0,
              "BitLength": 8
            }
          ],
          "RPDO2": [
            {
              "Index": "0x6081",
              "_Description": "Profile Velocity - Max profile velocity for profile motion (user units/s)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "RPDO3": [
            {
              "Index": "0x6083",
              "_Description": "Profile Acceleration - Profile acceleration for profile motion (user units/s²)",
              "SubIndex": 0,
              "BitLength": 32
            },
            {
              "Index": "0x6084",
              "_Description": "Profile Deceleration - Profile deceleration for profile motion (user units/s²)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "RPDO4": [
            {
              "Index": "0x60FF",
              "_Description": "Target Velocity - Target velocity in Profile Velocity mode (user units/s)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "TPDO1": [
            {
              "Index": "0x6041",
              "_Description": "Statusword - Motor status (Ready/Enabled/Fault/Warning/Target Reached)",
              "SubIndex": 0,
              "BitLength": 16
            },
            {
              "Index": "0x6061",
              "_Description": "Modes of Operation Display - Current active/running operation mode",
              "SubIndex": 0,
              "BitLength": 8
            }
          ],
          "TPDO2": [
            {
              "Index": "0x6064",
              "_Description": "Position Actual Value - Current actual position (encoder counts, real-time feedback)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "TPDO3": [
            {
              "Index": "0x606C",
              "_Description": "Velocity Actual Value - Vận tốc thực tế hiện tại (user units/s hoặc RPM, real-time feedback)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ]
        },
        "TPDOEventTimers": {
          "TPDO1": 0,
          "TPDO2": 0,
          "TPDO3": 50
        },
        "TPDOInhibitTimes": {
          "TPDO1": 100,
          "TPDO2": 10,
          "TPDO3": 10
        }
      }
    },
    "MBDV_Servo02": {
      "DeviceId": "left-wheel",
      "Enabled": true,
      "DeviceType": "CiA402Servo",
      "DeviceName": "Left Wheel Servo",
      "DriverName": "CiA402Servo",
      "DriverVersion": "1.0.0",
      "Description": "Left Wheel servo motor",
      "Connection": {
        "CanInterface": "can0",
        "NodeId": "2",
        "AutoReconnectEnabled": true,
        "ReconnectDelayMs": 3000,
        "MaxReconnectAttempts": 0,
        "PdoConfigRetryCount": 3,
        "PdoConfigRetryTimeoutMs": 1000,
        "UseHeartbeatCheck": true,
        "AllowedHomingMethods": [],
        "PdoMappings": {
          "_Comment": "CiA402 Object Dictionary Index Definitions: 0x6040=Controlword[WO UINT16] - State machine control (Enable/Disable/Fault Reset), 0x6041=Statusword[RO UINT16] - Motor status (Ready/Enabled/Fault), 0x6060=ModesOfOperation[RW INT8] - Operation mode (1=PP/3=PV/4=PT/6=HM/8=CSP/9=CSV/10=CST), 0x6061=ModesOfOperationDisplay[RO INT8] - Current active mode, 0x6064=PositionActualValue[RO INT32] - Actual position (encoder counts), 0x606C=VelocityActualValue[RO INT32] - Actual velocity (user units/s), 0x6071=TargetTorque[RW INT16] - Target torque (per-mille of rated torque), 0x607A=TargetPosition[RW INT32] - Target position (Profile Position mode), 0x6081=ProfileVelocity[RW UINT32] - Max profile velocity (user units/s), 0x6083=ProfileAcceleration[RW UINT32] - Profile acceleration (user units/s²), 0x6084=ProfileDeceleration[RW UINT32] - Profile deceleration (user units/s²), 0x60FF=TargetVelocity[RW INT32] - Target velocity (Profile Velocity mode). Wheel motors use Profile Velocity mode (mode 3).",
          "RPDO1": [
            {
              "Index": "0x6040",
              "_Description": "Controlword - State machine control (Enable/Disable/Fault Reset/Quick Stop)",
              "SubIndex": 0,
              "BitLength": 16
            },
            {
              "Index": "0x6060",
              "_Description": "Modes of Operation - Operation mode (1=PP/3=PV/4=PT/6=HM/8=CSP/9=CSV/10=CST)",
              "SubIndex": 0,
              "BitLength": 8
            }
          ],
          "RPDO2": [
            {
              "Index": "0x6081",
              "_Description": "Profile Velocity - Max profile velocity for profile motion (user units/s)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "RPDO3": [
            {
              "Index": "0x6083",
              "_Description": "Profile Acceleration - Profile acceleration for profile motion (user units/s²)",
              "SubIndex": 0,
              "BitLength": 32
            },
            {
              "Index": "0x6084",
              "_Description": "Profile Deceleration - Profile deceleration for profile motion (user units/s²)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "RPDO4": [
            {
              "Index": "0x60FF",
              "_Description": "Target Velocity - Target velocity in Profile Velocity mode (user units/s)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "TPDO1": [
            {
              "Index": "0x6041",
              "_Description": "Statusword - Motor status (Ready/Enabled/Fault/Warning/Target Reached)",
              "SubIndex": 0,
              "BitLength": 16
            },
            {
              "Index": "0x6061",
              "_Description": "Modes of Operation Display - Current active/running operation mode",
              "SubIndex": 0,
              "BitLength": 8
            }
          ],
          "TPDO2": [
            {
              "Index": "0x6064",
              "_Description": "Position Actual Value - Current actual position (encoder counts, real-time feedback)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ],
          "TPDO3": [
            {
              "Index": "0x606C",
              "_Description": "Velocity Actual Value - Vận tốc thực tế hiện tại (user units/s hoặc RPM, real-time feedback)",
              "SubIndex": 0,
              "BitLength": 32
            }
          ]
        },
        "TPDOEventTimers": {
          "TPDO1": 0,
          "TPDO2": 0,
          "TPDO3": 50
        },
        "TPDOInhibitTimes": {
          "TPDO1": 100,
          "TPDO2": 10,
          "TPDO3": 10
        }
      }
    },
    "SickScanXdLidar01": {
      "DeviceId": "scan_1",
      "Enabled": true,
      "DeviceName": "SICK Scan XD LiDAR 1",
      "DeviceType": "Lidar",
      "DriverName": "SickScanXdLidarDriver",
      "DriverVersion": "1.0.0",
      "Description": "SICK Scan XD LiDAR Driver - TCP/IP SOPAS Protocol",
      "Connection": {
        "IpAddress": "192.168.254.11",
        "TcpPort": 2371,
        "ScannerType": "sick_tim_7xxS",
        "Protocol": "ColaB",
        "FrameId": "scan",
        "ConnectTimeoutMs": 5000,
        "CommandTimeoutMs": 5000,
        "ReadTimeoutMs": 5000,
        "AutoReconnectEnabled": true,
        "ReconnectDelayMs": 3000,
        "MaxReconnectAttempts": 0
      }
    },
    "SickScanXdLidar02": {
      "DeviceId": "scan_2",
      "Enabled": true,
      "DeviceName": "SICK Scan XD LiDAR 2",
      "DeviceType": "Lidar",
      "DriverName": "SickScanXdLidarDriver",
      "DriverVersion": "1.0.0",
      "Description": "SICK Scan XD LiDAR Driver - TCP/IP SOPAS Protocol",
      "Connection": {
        "IpAddress": "192.168.254.12",
        "TcpPort": 2372,
        "ScannerType": "sick_tim_7xxS",
        "Protocol": "ColaB",
        "FrameId": "scan",
        "ConnectTimeoutMs": 5000,
        "CommandTimeoutMs": 5000,
        "ReadTimeoutMs": 5000,
        "AutoReconnectEnabled": true,
        "ReconnectDelayMs": 3000,
        "MaxReconnectAttempts": 0
      }
    },
    "SickScanXdLidar03": {
      "DeviceId": "scan_3",
      "Enabled": true,
      "DeviceName": "SICK Scan XD LiDAR 3",
      "DeviceType": "Lidar",
      "DriverName": "SickScanXdLidarDriver",
      "DriverVersion": "1.0.0",
      "Description": "SICK Scan XD LiDAR Driver - TCP/IP SOPAS Protocol",
      "Connection": {
        "IpAddress": "192.168.254.13",
        "TcpPort": 2373,
        "ScannerType": "sick_tim_7xxS",
        "Protocol": "ColaB",
        "FrameId": "scan",
        "ConnectTimeoutMs": 5000,
        "CommandTimeoutMs": 5000,
        "ReadTimeoutMs": 5000,
        "AutoReconnectEnabled": true,
        "ReconnectDelayMs": 3000,
        "MaxReconnectAttempts": 0
      }
    },
    "Oleilidar": {
      "DeviceId": "olei-front",
      "Enabled": true,
      "DeviceName": "Olei",
      "DeviceType": "Lidar",
      "DriverName": "Olei2dLidarDriver",
      "DriverVersion": "1.0.0",
      "Description": "Olei Safety Scanner LiDAR with custom scan angle configuration",
      "Connection": {
        "UdpPort": 2368,
        "FrameId": "olei-front"
      }
    },
    "WheeltecIMU": {
      "DeviceId": "wheetec-imu",
      "Enabled": true,
      "DeviceName": "Wheetec N100 IMU",
      "DeviceType": "IMU",
      "DriverName": "WheeltecN100IMU",
      "DriverVersion": "1.0.0",
      "Description": "IMU",
      "Connection": {
        "Port": "/dev/ttyUSB0",
        "BaudRate": 921600,
        "Timeout": 2000
      }
    }
  },
  "Motion": {
    "DifferentialDrive": {
      "Enable": true,
      "LeftWheel": {
        "DeviceId": "left-wheel",
        "Position": {
          "Position": {
            "X": 0.0,
            "Y": 0.23625,
            "Z": 0.0
          },
          "Orientation": {
            "X": 0.0,
            "Y": 0.0,
            "Z": 0.7071067,
            "W": 0.7071067
          }
        },
        "WheelDiameter": 0.2495,
        "PulsesPerRevolution": 100000,
        "IsReversed": false
      },
      "RightWheel": {
        "DeviceId": "right-wheel",
        "Position": {
          "Position": {
            "X": 0.0,
            "Y": -0.23625,
            "Z": 0.0
          },
          "Orientation": {
            "X": 0.0,
            "Y": 0.0,
            "Z": -0.7071067,
            "W": 0.7071067
          }
        },
        "WheelDiameter": 0.2495,
        "PulsesPerRevolution": 100000,
        "IsReversed": true
      }
    },
    "ManualControl": {
      "Enable": true,
      "UsingKeyboard": true,
      "MinLinearVelocity": 0.0,
      "MaxLinearVelocity": 0.5,
      "MinAngularVelocity": 0.0,
      "MaxAngularVelocity": 0.3,
      "UpdateRate": 20.0,
      "Acceleration": 0.5,
      "Deceleration": 0.5
    }
  },
  "Modules": {
    "LiftModule": {
      "Enable": false
    },
    "RotationModule": {
      "Enable": false
    }
  },
  "Cartographer": {
    "Enable": true,
    "Sensors": {
      "Lidars": [
        {
          "DeviceId": "scan_1",
          "Enabled": false,
          "Transform": {
            "Translation": {
              "X": 0.7072,
              "Y": 0.28235,
              "Z": 0.0
            },
            "Rotation": {
              "X": 0.0,
              "Y": 0.0,
              "Z": -0.3826834,
              "W": 0.9238795
            }
          },
          "AngleMin": -40,
          "AngleMax": 220
        },
        {
          "DeviceId": "scan_2",
          "Enabled": true,
          "Transform": {
            "Translation": {
              "X": 0.7072,
              "Y": -0.28235,
              "Z": 0.0
            },
            "Rotation": {
              "X": 0.0,
              "Y": 0.0,
              "Z": -0.9238795,
              "W": 0.3826834
            }
          },
          "AngleMin": -40,
          "AngleMax": 220
        },
        {
          "DeviceId": "scan_3",
          "Enabled": false,
          "Transform": {
            "Translation": {
              "X": -0.1184,
              "Y": 0.0,
              "Z": 0.0
            },
            "Rotation": {
              "X": 0.0,
              "Y": 0.0,
              "Z": 0.7071068,
              "W": 0.7071068
            }
          },
          "AngleMin": -40,
          "AngleMax": 220
        }
      ],
      "Imu": {
        "DeviceId": "wheetec-imu",
        "Enabled": true,
        "Transform": {
          "Translation": {
            "X": 0.0,
            "Y": 0.0,
            "Z": 0.0
          },
          "Rotation": {
            "X": 1.0,
            "Y": 0.0,
            "Z": 0.0,
            "W": 0.0
          }
        }
      }
    },
    "TrajectoryBuilder": {
      "Use2D": true,
      "MinRange": 0.1,
      "MaxRange": 18.0,
      "MinZ": -0.8,
      "MaxZ": 2.0,
      "MissingDataRayLength": 5.0,
      "VoxelFilterSize": 0.01,
      "NumAccumulatedRangeData": 1,
      "UseImuData": true,
      "UseOnlineCorrelativeScanMatching": true,
      "RealTimeCorrelativeScanMatcherOptions": {
        "LinearSearchWindow": 0.05,
        "AngularSearchWindow": 0.1745,
        "TranslationDeltaCostWeight": 1.0,
        "RotationDeltaCostWeight": 1.0,
        "NumThreads": 3
      },
      "CeresScanMatcherOptions": {
        "OccupiedSpaceWeight": 2.0,
        "TranslationWeight": 20.0,
        "RotationWeight": 60.0,
        "HighResOccupiedSpaceWeight": 2.0,
        "HighResTranslationWeight": 20.0,
        "HighResRotationWeight": 60.0,
        "LandmarkWeight": 0.0,
        "CeresSolverOptions": {
          "UseNonmonotonicSteps": true,
          "MaxNumIterations": 30,
          "NumThreads": 3
        }
      },
      "InitialPoseRealTimeCorrelativeScanMatcherOptions": {
        "_comment": "Enhanced scan matching for SetInitialPoseAsync - wider search window for relocalization",
        "LinearSearchWindow": 0.5,
        "AngularSearchWindow": 0.5,
        "TranslationDeltaCostWeight": 1.0,
        "RotationDeltaCostWeight": 1.0,
        "NumThreads": 3
      },
      "InitialPoseCeresScanMatcherOptions": {
        "_comment": "Stricter Ceres optimization for SetInitialPoseAsync - higher weights for better accuracy",
        "OccupiedSpaceWeight": 20.0,
        "TranslationWeight": 50.0,
        "RotationWeight": 10.0,
        "CeresSolverOptions": {
          "UseNonmonotonicSteps": true,
          "MaxNumIterations": 100,
          "NumThreads": 3,
          "FunctionTolerance": 0.0001,
          "GradientTolerance": 0.000001,
          "ParameterTolerance": 0.000001
        }
      },
      "MotionFilterOptions": {
        "MaxTimeSeconds": 5.0,
        "MaxDistanceMeters": 0.2,
        "MaxAngleRadians": 0.0175
      },
      "AdaptiveVoxelFilterOptions": {
        "MaxLength": 0.3,
        "MinNumPoints": 250,
        "MaxRange": 50.0
      },
      "LoopClosureAdaptiveVoxelFilterOptions": {
        "MaxLength": 0.9,
        "MinNumPoints": 100,
        "MaxRange": 50.0
      },
      "PoseExtrapolatorOptions": {
        "UseImuBased": true,
        "ConstantVelocity": {
          "ImuGravityTimeConstant": 10.0,
          "PoseQueueDuration": 0.001
        },
        "ImuBased": {
          "PoseQueueDuration": 5.0,
          "GravityConstant": 9.806,
          "PoseTranslationWeight": 1.0,
          "PoseRotationWeight": 1.0,
          "ImuAccelerationWeight": 1.0,
          "ImuRotationWeight": 1.0,
          "OdometryTranslationWeight": 1.0,
          "OdometryRotationWeight": 1.0,
          "SolverOptions": {
            "UseNonmonotonicSteps": false,
            "MaxNumIterations": 20,
            "NumThreads": 3,
            "FunctionTolerance": null,
            "GradientTolerance": null,
            "ParameterTolerance": null
          }
        },
        "_comment_deprecated": "The following fields are DEPRECATED and IGNORED by PoseExtrapolator (removed in C++ port to match original Cartographer): VelocityThreshold, AccelerationThreshold, GravityDeviationThreshold, UseOdometryDirectly. They remain here for backward compatibility but have no effect.",
        "VelocityThreshold": 0.003,
        "AccelerationThreshold": 0.4,
        "GravityDeviationThreshold": 0.1,
        "UseOdometryDirectly": true
      },
      "ScanMatchingDebugOptions": {
        "EnableDebugMode": true,
        "MinCostReductionPercent": 80.0,
        "MaxPoseChangeDistanceMeters": 0.5,
        "MaxPoseChangeRotationDegrees": 5.0
      },
      "SubmapsOptions": {
        "NumRangeData": 100,
        "GridOptions": {
          "GridType": 1,
          "Resolution": 0.025
        },
        "RangeDataInserterOptions": {
          "RangeDataInserterType": 1,
          "ProbabilityGridRangeDataInserterOptions": {
            "HitProbability": 0.6,
            "MissProbability": 0.45,
            "InsertFreeSpace": true
          },
          "TsdfRangeDataInserterOptions": {
            "TruncationDistance": 0.3,
            "MaximumWeight": 10.0,
            "UpdateFreeSpace": false,
            "NormalEstimationOptions": {
              "NumNormalSamples": 4,
              "SampleRadius": 0.5
            },
            "ProjectSdfDistanceToScanNormal": true,
            "UpdateWeightRangeExponent": 0,
            "UpdateWeightAngleScanNormalToRayKernelBandwidth": 0.5,
            "UpdateWeightDistanceCellToHitKernelBandwidth": 0.5
          }
        }
      },
      "HighResGridOptions": {
        "GridType": 1,
        "Resolution": 0.025
      },
      "HighResAdaptiveVoxelFilterOptions": {
        "MaxLength": 0.5,
        "MinNumPoints": 200,
        "MaxRange": 50.0
      },
      "HighResVoxelFilterSize": 0.025,
      "LandmarkThreshold": {
        "MirrorLandmarkMatchingDistance": 0.5,
        "NewLandmarkDistance": 2.0,
        "LocalLandmarksHistory": 80
      },
      "NumDuplicateInsertToAccurateSubmap": 1,
      "TrueScoreCellThreshold": 0.75,
      "_comment_ProvideConfidenceScore": "When enabled, computes a confidence score for each pose estimate using RealTimeCorrelativeScanMatcher. The confidence score indicates how well the scan matches the current submap (0.0 = poor match, 1.0 = perfect match). Useful for detecting localization failures or low-quality pose estimates. Default: false (disabled for performance).",
      "ProvideConfidenceScore": true
    },
    "MapBuilder": {
      "UseTrajectoryBuilder2D": true,
      "UseTrajectoryBuilder3D": null,
      "NumBackgroundThreads": 4,
      "CollateByTrajectory": true,
      "OptimizeEveryNNodes": 0,
      "MatcherTranslationWeight": 500.0,
      "MatcherRotationWeight": 1600.0,
      "MaxNumFinalIterations": 200,
      "GlobalSamplingRatio": 0.05,
      "LogResidualHistograms": false,
      "GlobalConstraintSearchAfterNSeconds": 30.0,
      "PoseGraphOptimizationProblemOptions": {
        "HuberScale": 10.0,
        "OdometryHuberScale": 1.0,
        "LocalSlamPoseHuberScale": 1.0,
        "AccelerationWeight": 110.0,
        "RotationWeight": 16000.0,
        "LocalSlamPoseTranslationWeight": 10.0,
        "LocalSlamPoseRotationWeight": 10.0,
        "OdometryTranslationWeight": 10.0,
        "OdometryRotationWeight": 10.0,
        "FixedFramePoseTranslationWeight": 10.0,
        "FixedFramePoseRotationWeight": 100.0,
        "FixedFramePoseUseTolerantLoss": false,
        "FixedFramePoseTolerantLossParamA": 1.0,
        "FixedFramePoseTolerantLossParamB": 1.0,
        "LogSolverSummary": false,
        "MaxNumIterations": 20,
        "CeresSolverOptions": {
          "UseNonmonotonicSteps": true,
          "MaxNumIterations": 50,
          "NumThreads": 3,
          "FunctionTolerance": 0.001,
          "GradientTolerance": 0.000001,
          "ParameterTolerance": 0.000001
        }
      },
      "ConstraintBuilderOptions": {
        "SamplingRatio": 0.1,
        "MaxConstraintDistance": 15.0,
        "MinScore": 0.5,
        "GlobalLocalizationMinScore": 0.55,
        "LoopClosureTranslationWeight": 11000.0,
        "LoopClosureRotationWeight": 100000.0,
        "LogMatches": false,
        "FastCorrelativeScanMatcherOptions": {
          "LinearSearchWindow": 3,
          "AngularSearchWindow": 3.1415,
          "BranchAndBoundDepth": 5,
          "LocalizationLinearSearchWindow": 3.0,
          "LocalizationAngularSearchWindow": 3.14159
        },
        "CeresScanMatcherOptions": {
          "OccupiedSpaceWeight": 20.0,
          "TranslationWeight": 10.0,
          "RotationWeight": 1.0,
          "HighResOccupiedSpaceWeight": 1.0,
          "HighResTranslationWeight": 10.0,
          "HighResRotationWeight": 40.0,
          "LandmarkWeight": 0.0,
          "CeresSolverOptions": {
            "UseNonmonotonicSteps": true,
            "MaxNumIterations": 50,
            "NumThreads": 3
          }
        }
      },
      "OverlappingSubmapsTrimmer2D": {
        "FreshSubmapsCount": 2,
        "MinCoveredArea": 1.0,
        "MinAddedSubmapsCount": 5
      }
    },
    "MapStorage": {
      "Directory": "./bin/maps",
      "OccupancyGridResolution": 0.05,
      "MapPadding": 0.5,
      "PngVisualizationOptions": {
        "ShowGrid": true,
        "ShowTrajectory": true,
        "GridColor": "#CCCCCC",
        "TrajectoryColor": "#FF0000"
      }
    },
    "Mcl": {
      "_comment": "Monte Carlo Localization (xloc MCL). Params aligned with refs/xloc_cpp-main/configuration_files/mcl.yaml and MCLThread convergence (pose_change 0.03m, yaw 0.05rad, stable 0.3s, reliability>=0.9, mae<=0.12, timeout 3s).",
      "Enabled": true,
      "PrimaryLidarId": "sick-lidar-002",
      "InitialNoiseX": 1.0,
      "InitialNoiseY": 1.0,
      "InitialNoiseYaw": 0.3,
      "InitialNoiseWhenPoseGivenX": 0.15,
      "InitialNoiseWhenPoseGivenY": 0.15,
      "InitialNoiseWhenPoseGivenYaw": 0.05,
      "ParticlesNum": 1000,
      "UseAugmentedMcl": true,
      "AddRandomParticlesInResampling": true,
      "RandomParticlesRate": 0.1,
      "RandomParticlesNoise": [
        0.05,
        0.05,
        0.1
      ],
      "OdomNoiseDdm": [
        1.0,
        0.5,
        0.5,
        1.5
      ],
      "OdomNoiseOdm": [
        4.0,
        1.0,
        1.0,
        1.0,
        4.0,
        1.0,
        1.0,
        1.0,
        8.0
      ],
      "UseOmniDirectionalModel": false,
      "MeasurementModelType": 2,
      "ScanStep": 10,
      "ZHit": 0.9,
      "ZShort": 0.2,
      "ZMax": 0.05,
      "ZRand": 0.05,
      "VarHit": 0.08,
      "LambdaShort": 1.0,
      "LambdaUnknown": 0.01,
      "KnownClassPrior": 0.5,
      "UnknownScanProbThreshold": 0.9,
      "AlphaSlow": 0.001,
      "AlphaFast": 0.99,
      "RejectUnknownScan": true,
      "ResampleThresholdEss": 0.5,
      "ResampleThresholds": [
        0.2,
        0.2,
        0.2,
        0.02,
        -99999.0
      ],
      "RelTransDdm": [
        0.0,
        0.0
      ],
      "RelTransOdm": [
        0.0,
        0.0,
        0.0
      ],
      "ClassifierType": 0,
      "EstimateReliability": true,
      "FailureThreshold": 0.12,
      "UseGLPoseSampler": true,
      "GLSampledPoseTimeTH": 0.5,
      "GmmPositionalVariance": 0.1,
      "GmmAngularVariance": 0.1,
      "PredDistUnifRate": 0.05,
      "ConvergencePoseChangeThresholdMeters": 0.03,
      "ConvergenceYawChangeThresholdRad": 0.05,
      "ConvergenceStableDurationSeconds": 0.3,
      "ConvergenceReliabilityMin": 0.9,
      "ConvergenceMaeMaxMeters": 0.12,
      "ConvergenceTimeoutSeconds": 3.0,
      "ConvergenceMaxIterations": 300,
      "ConvergenceMinIterations": 10,
      "ReliabilityMonitoring": {
        "EnableReliabilityMonitoring": true,
        "MonitoringIntervalSeconds": 2.0,
        "MonitoringParticlesNum": 500,
        "MonitoringIterationsPerCycle": 5
      }
    }
  },
  "Detection": {
    "MarkerDetector": {
      "LidarDevices": [
        {
          "DeviceId": "olei-front",
          "Position": {
            "X": 0.72,
            "Y": 0.0,
            "Z": 0.0
          },
          "Orientation": {
            "X": 1.0,
            "Y": 0.0,
            "Z": 0.0,
            "W": 0.0
          }
        }
      ],
      "QrDevices": []
    }
  }
}