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QUYVN
2026-07-03 16:37:12 +07:00
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json Normal file
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{
"ConnectionStrings": {
"DefaultConnection": "Data Source=./bin/dbs/robotapp.db",
"ScriptEngineConnection": "Data Source=./bin/dbs/script.db",
"MapEditorConnection": "Data Source=./bin/dbs/map.db",
"NavigationTuneConnection": "Data Source=./bin/dbs/navtune.db"
},
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning",
"Microsoft.EntityFrameworkCore": "Warning",
"Microsoft.AspNetCore.Watch.BrowserRefresh": "Warning"
}
},
"AllowedHosts": "*",
"Kestrel": {
"Endpoints": {
"Https": {
"Url": "https://0.0.0.0:7002"
}
}
},
"Devices": {
"VartaBattery": {
"DeviceId": "battery-varta-001",
"Enabled": true,
"DeviceName": "Battery Varta 1",
"DeviceType": "Battery",
"DriverName": "VartaBattery",
"DriverVersion": "1.0.0",
"Connection": {
"CanInterface": "can2",
"LowBatteryThresholdPercent": 20,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"YNZDH_Rfhandle": {
"DeviceId": "rfhandle-YNZDH-001",
"Enabled": false,
"DeviceName": "RF Handle YNZDH 1",
"DeviceType": "RfHandle",
"DriverName": "YNZDH_RfHandle",
"DriverVersion": "1.0.0",
"Connection": {
"Port": "/dev/ttyS0",
"BaudRate": 9600,
"AxisCount": 4,
"ButtonCount": 8,
"HatCount": 1,
"AutoReconnectEnabled": true
}
},
"BatteryTada": {
"DeviceId": "battery-tada-001",
"Enabled": false,
"DeviceName": "Battery Tada 1",
"DeviceType": "Battery",
"DriverName": "TadaBattery",
"DriverVersion": "1.0.0",
"Connection": {
"Port": "/dev/ttyS1",
"BaudRate": 19200,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"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": "2",
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": true,
"AllowedHomingMethods": [],
"PdoMappings": {
"RPDO1": [
{
"Index": "0x6040",
"SubIndex": 0,
"BitLength": 16
}
],
"RPDO2": [
{
"Index": "0x607A",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO3": [
{
"Index": "0x60FF",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO4": [
{
"Index": "0x6071",
"SubIndex": 0,
"BitLength": 16
}
],
"TPDO1": [
{
"Index": "0x6041",
"SubIndex": 0,
"BitLength": 16
},
{
"Index": "0x6064",
"SubIndex": 0,
"BitLength": 32
}
],
"TPDO2": [
{
"Index": "0x606C",
"SubIndex": 0,
"BitLength": 32
}
]
}
}
},
"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": "1",
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": true,
"AllowedHomingMethods": [],
"PdoMappings": {
"RPDO1": [
{
"Index": "0x6040",
"SubIndex": 0,
"BitLength": 16
}
],
"RPDO2": [
{
"Index": "0x607A",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO3": [
{
"Index": "0x60FF",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO4": [
{
"Index": "0x6071",
"SubIndex": 0,
"BitLength": 16
}
],
"TPDO1": [
{
"Index": "0x6041",
"SubIndex": 0,
"BitLength": 16
},
{
"Index": "0x6064",
"SubIndex": 0,
"BitLength": 32
}
],
"TPDO2": [
{
"Index": "0x606C",
"SubIndex": 0,
"BitLength": 32
}
]
}
}
},
"MDX_Servo03": {
"DeviceId": "lift-motor",
"Enabled": true,
"DeviceType": "CiA402Servo",
"DeviceName": "Lift Motor",
"DriverName": "CiA402Servo",
"DriverVersion": "1.0.0",
"Description": "Lift motor",
"Connection": {
"CanInterface": "can0",
"NodeId": "3",
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": true,
"AllowedHomingMethods": [],
"PdoMappings": {
"RPDO1": [
{
"Index": "0x6040",
"SubIndex": 0,
"BitLength": 16
}
],
"RPDO2": [
{
"Index": "0x607A",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO3": [
{
"Index": "0x60FF",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO4": [
{
"Index": "0x6071",
"SubIndex": 0,
"BitLength": 16
}
],
"TPDO1": [
{
"Index": "0x6041",
"SubIndex": 0,
"BitLength": 16
},
{
"Index": "0x6064",
"SubIndex": 0,
"BitLength": 32
}
],
"TPDO2": [
{
"Index": "0x606C",
"SubIndex": 0,
"BitLength": 32
}
]
}
}
},
"Kinco_Servo01": {
"DeviceId": "motor-lift",
"Enabled": false,
"DeviceType": "CiA402Servo",
"DeviceName": "Lift Servo",
"DriverName": "CiA402Servo",
"DriverVersion": "1.0.0",
"Description": "Lift servo motor",
"Connection": {
"CanInterface": "can1",
"NodeId": "1",
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": false,
"AllowedHomingMethods": [],
"PdoMappings": {
"RPDO1": [
{
"Index": "0x6040",
"SubIndex": 0,
"BitLength": 16
}
],
"RPDO2": [
{
"Index": "0x607A",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO3": [
{
"Index": "0x60FF",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO4": [
{
"Index": "0x6071",
"SubIndex": 0,
"BitLength": 16
}
],
"TPDO1": [
{
"Index": "0x6041",
"SubIndex": 0,
"BitLength": 16
},
{
"Index": "0x6064",
"SubIndex": 0,
"BitLength": 32
}
],
"TPDO2": [
{
"Index": "0x606C",
"SubIndex": 0,
"BitLength": 32
}
]
}
}
},
"Kinco_Servo02": {
"DeviceId": "motor-rotary",
"Enabled": false,
"DeviceType": "CiA402Servo",
"DeviceName": "Station Rotary Servo",
"DriverName": "CiA402Servo",
"DriverVersion": "1.0.0",
"Description": "Station Rotary servo motor",
"Connection": {
"CanInterface": "can1",
"NodeId": "2",
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0,
"PdoConfigRetryCount": 3,
"PdoConfigRetryTimeoutMs": 1000,
"UseHeartbeatCheck": false,
"AllowedHomingMethods": [],
"PdoMappings": {
"RPDO1": [
{
"Index": "0x6040",
"SubIndex": 0,
"BitLength": 16
}
],
"RPDO2": [
{
"Index": "0x607A",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO3": [
{
"Index": "0x60FF",
"SubIndex": 0,
"BitLength": 32
}
],
"RPDO4": [
{
"Index": "0x6071",
"SubIndex": 0,
"BitLength": 16
}
],
"TPDO1": [
{
"Index": "0x6041",
"SubIndex": 0,
"BitLength": 16
},
{
"Index": "0x6064",
"SubIndex": 0,
"BitLength": 32
}
],
"TPDO2": [
{
"Index": "0x606C",
"SubIndex": 0,
"BitLength": 32
}
]
}
}
},
"SickLidar01": {
"DeviceId": "scan_1",
"Enabled": true,
"DeviceName": "SICK Safety Scanner LiDAR Front",
"DeviceType": "Lidar",
"DriverName": "SickLidarDriver",
"DriverVersion": "1.0.0",
"Description": "SICK Safety Scanner LiDAR Driver - UDP Streaming Mode",
"Connection": {
"IpAddress": "192.168.254.11",
"TcpPort": 2122,
"UdpLocalPort": 6060,
"HostIp": "192.168.254.100",
"StartAngle": -135.0,
"EndAngle": 135.0,
"ConnectTimeoutMs": 5000,
"CommandTimeoutMs": 5000,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 2,
"ScanTopic": "scan_1",
"FrameId": "scan_1",
"AngleOffsetDeg": -90,
"RangeMin": 0.05,
"RangeMax": 40.0
}
},
"SickLidar02": {
"DeviceId": "scan_2",
"Enabled": true,
"DeviceName": "SICK Safety Scanner LiDAR Behind",
"DeviceType": "Lidar",
"DriverName": "SickLidarDriver",
"DriverVersion": "1.0.0",
"Description": "SICK Safety Scanner LiDAR Driver - UDP Streaming Mode",
"Connection": {
"IpAddress": "192.168.254.12",
"TcpPort": 2122,
"UdpLocalPort": 6062,
"HostIp": "192.168.254.100",
"StartAngle": -135.0,
"EndAngle": 135.0,
"ConnectTimeoutMs": 10000,
"CommandTimeoutMs": 10000,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 5000,
"MaxReconnectAttempts": 2,
"ScanTopic": "scan_2",
"FrameId": "scan_2",
"AngleOffsetDeg": -90,
"RangeMin": 0.05,
"RangeMax": 40.0
}
},
"Oleilidar": {
"DeviceId": "Olei",
"Enabled": false,
"DeviceName": "Olei",
"DeviceType": "Lidar",
"DriverName": "OleiLidarDriver",
"DriverVersion": "1.0.0",
"Description": "Olei Safety Scanner LiDAR with custom scan angle configuration",
"Connection": {
"DeviceIp": "192.168.254.15",
"DevicePort": 2368,
"LocalIp": "192.168.254.2",
"Inverted": false,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"OleiGS15": {
"DeviceId": "scan_1",
"Enabled": false,
"DeviceName": "Olei GS1-5 LiDAR",
"DeviceType": "Lidar",
"DriverName": "OleiGS15Driver",
"DriverVersion": "1.0.0",
"Description": "Olei GS1-5 LiDAR driver (ROS version3-compatible UDP parser)",
"Connection": {
"Version": 3,
"ScannerIp": "192.168.100.21",
"LocalIp": "192.168.100.100",
"Port": 2368,
"Transport": "udp",
"FrameId": "scan_1",
"ScanTopic": "scan_1",
"PacketType": "B",
"Inverted": false,
"TimeFromLidar": true,
"Ntp": false,
"RangeMin": 0.08,
"RangeMax": 50.0,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"SickScanXdLidar01": {
"DeviceId": "scan_2",
"Enabled": false,
"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": "192.168.100.22",
"TcpPort": 2112,
"ScannerType": "sick_tim_7xxS",
"UseBinaryProtocol": true,
"FrameId": "scan_2",
"StartAngle": -135.0,
"EndAngle": 135.0,
"ConnectTimeoutMs": 5000,
"CommandTimeoutMs": 5000,
"ReadTimeoutMs": 5000,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"SickScanXdLidar02": {
"DeviceId": "scan_2",
"Enabled": false,
"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": "192.168.254.11",
"TcpPort": 2371,
"ScannerType": "sick_tim_7xxS",
"UseBinaryProtocol": true,
"FrameId": "scan_2",
"StartAngle": -135.0,
"EndAngle": 135.0,
"ConnectTimeoutMs": 5000,
"CommandTimeoutMs": 5000,
"ReadTimeoutMs": 5000,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"SickScanXdLidar03": {
"DeviceId": "scan_3",
"Enabled": false,
"DeviceName": "SICK Scan XD LiDAR 3",
"DeviceType": "Lidar",
"DriverName": "SickScanXdLidarDriver",
"DriverVersion": "1.0.0",
"Description": "SICK Scan XD LiDAR Driver - TCP/IP SOP AS Protocol",
"Connection": {
"IpAddress": "192.168.254.13",
"TcpPort": 6063,
"ScannerType": "sick_tim_7xxS",
"UseBinaryProtocol": true,
"FrameId": "scan_3",
"StartAngle": -135.0,
"EndAngle": 135.0,
"ConnectTimeoutMs": 5000,
"CommandTimeoutMs": 5000,
"ReadTimeoutMs": 5000,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"WheeltecIMU": {
"DeviceId": "imu",
"Enabled": true,
"DeviceName": "Wheetec N100 IMU",
"DeviceType": "IMU",
"DriverName": "WheeltecN100IMU",
"DriverVersion": "1.0.0",
"Description": "IMU",
"Connection": {
"Port": "/dev/imu",
"BaudRate": 921600,
"Timeout": 2000
}
},
"HikVisionQr": {
"DeviceId": "hik-qr-001",
"Enabled": true,
"DeviceName": "HikVision QR Camera",
"DeviceType": "CameraQr",
"DriverName": "HikVisionQr",
"DriverVersion": "1.0.0",
"Description": "HikVision Camera for QR Code Detection",
"Connection": {
"LocalIP": "192.168.254.100",
"LocalPort": 1024,
"CameraWidth": 800,
"CameraHeight": 600,
"DistanceToQr": 0.165,
"FovRangeWidthMm": 170.0,
"FovRangeHeightMm": 130.0,
"FovRangeDistanceMm": 100.0,
"QrDataTimeoutSeconds": 3.0,
"AutoReconnectEnabled": true,
"ReconnectDelayMs": 3000,
"MaxReconnectAttempts": 0
}
},
"PLC": {
"DeviceId": "plc-001",
"Enabled": true,
"DeviceName": "PLC_Controller",
"DeviceType": "ModbusTcp",
"DriverName": "ModbusTCP",
"DriverVersion": "1.0.0",
"Connection": {
"Port": 502,
"IpAddress": "192.168.254.5",
"SlaveId": 1,
"SyncIntervalMs": 200,
"ConnectTimeoutMs": 5000,
"AutoReconnectEnabled": true,
"Coils": {
"Range1": {
"StartAddress": 2848,
"Quantity": 32,
"Name": "Input PLC",
"ChildrenNames": [
"M800 EMC Button",
"M801 Bumper",
"M802 Lidar NS3-FR",
"M803 Lidar NS3-RR",
"M804 Lidar TIM718S-FR",
"M805 Lift up limit",
"M806 Lift down limit",
"M807 Rotate homing",
"M808 Left motor ready",
"M809 Right motor ready",
"M810 Lift motor ready",
"M811 Lock",
"M812 Auto",
"M813 Manual",
"M814 Start",
"M815 Reset",
"M816 Stop",
"M817 Load present",
"M818 PLC enables charging contact",
"M819 Response Charging",
"M820 Response Muted Base",
"M821 Response Muted Load",
"M",
"M",
"M",
"M825 Speed very slow",
"M826 Speed slow",
"M827 Speed normal",
"M828 Speed medium",
"M829 Speed Optimal",
"M830 Speed Fast",
"M831 Overspeed"
]
},
"Range2": {
"StartAddress": 2948,
"Quantity": 33,
"Name": "Output PLC",
"ChildrenNames": [
"M900 INIT",
"M901 PAUSE",
"M902 IDLE",
"M903 PROCESSING",
"M904 DOCKING",
"M905 MAINTENANCE",
"M906 MANUAL",
"M907 OVERRIDE",
"M908 CHARGING",
"M909 Error",
"M",
"M",
"M",
"M",
"M",
"M915 Moving",
"M916 Lifting",
"M917 Rotating",
"M918 Light on",
"M",
"M920 Engage contact",
"M921 Load horizontal detected",
"M922 Set Muted Base",
"M923 Muted Load",
"M924 RF Default",
"M925 RF Maintenance",
"M926 RF Override",
"M927 Load present",
"M928 EMC RF Remote",
"M929 Low battery",
"M930",
"M931 Forward",
"M932 Reverse"
]
}
}
}
}
},
"Motion": {
"DifferentialDrive": {
"LeftWheel": {
"DeviceId": "left-wheel",
"Position": {
"Position": {
"X": 0.0,
"Y": 0.222,
"Z": 0.0
},
"Orientation": {
"X": 0.0,
"Y": 0.0,
"Z": 1.0,
"W": 0.0
}
},
"WheelDiameter": 0.15,
"PulsesPerRevolution": 100000,
"IsReversed": false
},
"RightWheel": {
"DeviceId": "right-wheel",
"Position": {
"Position": {
"X": 0.0,
"Y": -0.222,
"Z": 0.0
},
"Orientation": {
"X": 0.0,
"Y": 0.0,
"Z": 0.0,
"W": 1.0
}
},
"WheelDiameter": 0.15,
"PulsesPerRevolution": 100000,
"IsReversed": true
}
},
"ManualControl": {
"RfHandleDeviceId": "rfhandle-YNZDH-001",
"MinLinearVelocity": 0.0,
"MaxLinearVelocity": 1.5,
"MinAngularVelocity": 0.0,
"MaxAngularVelocity": 1.0,
"UpdateRate": 20.0
},
"PS5Controller": {
"R1Velocity": 0.3,
"R2Velocity": 0.5,
"L1Velocity": 0.7,
"L2Velocity": 1.0,
"MaxAngularVelocity": 1.0,
"UpdateRate": 20.0,
"GamepadIndex": null
},
"Odometry": {
"LeftWheel": {
"DeviceId": "left-wheel",
"WheelDiameter": 0.15,
"PulsesPerRevolution": 100000
},
"RightWheel": {
"DeviceId": "right-wheel",
"WheelDiameter": 0.15,
"PulsesPerRevolution": 100000
},
"Wheelbase": 0.444,
"FrameId": "odom",
"ChildFrameId": "base_link",
"ImuDeviceId": "imu"
},
"EKF": {
"ImuDeviceId": "imu",
"FrameId": "odom",
"ChildFrameId": "base_link",
"UpdateRateHz": 20.0,
"ProcessNoisePosition": 0.01,
"ProcessNoiseOrientation": 0.01,
"ProcessNoiseVelocity": 0.1,
"MeasurementNoisePosition": 0.05,
"MeasurementNoiseOrientation": 0.01,
"InitialPositionUncertainty": 0.1,
"InitialOrientationUncertainty": 0.1,
"InitialVelocityUncertainty": 0.5,
"EnableSlipDetection": false,
"EnableWheelsInAirDetection": false,
"EnableAdaptiveNoise": true,
"EnableSlipLogging": true,
"AccelerationMismatchThreshold": 0.5,
"InnovationThreshold": 3.0,
"MaxNoiseScale": 10.0,
"ZAxisFreefallThreshold": 0.15,
"HorizontalMotionThreshold": 0.1,
"WheelsInAirNoiseScale": 100.0
}
},
"Modules": {
"LiftModule": {
"Enable": true,
"DeviceId": "lift-motor",
"HomingMethod": 21,
"HomingSpeed": 50000,
"ProfileVelocity": 220000,
"ProfileAcceleration": 100000,
"ProfileDeceleration": 100000,
"MinPosition": 0,
"MaxPosition": 1000000,
"StatusWordCheckIntervalMs": 50
}
},
"Xloc": {
"Integration": {
"Enabled": true,
"Mode": "Mapping",
"UpdateRateHz": 2,
"MapFilePath": "",
"SaveMapFilePath": "/home/mic-733ao/.local/share/xloc/resources/maps",
"EnableEKFOdometry": false,
"EKFOdometrySensorId": "odom",
"EnableRawOdometry": true,
"RawOdometrySensorId": "odom",
"EnableIMU": true,
"ImuDeviceId": "imu",
"ImuSensorId": "imu",
"ImuFrameId": "imu",
"EnableLidar1": true,
"EnableLidar2": true,
"EnableLidar3": false,
"Lidar1DeviceId": "scan_1",
"Lidar1SensorId": "scan_1",
"Lidar2DeviceId": "scan_2",
"Lidar2SensorId": "scan_2",
"Lidar3DeviceId": "scan_3",
"Lidar3SensorId": "scan_3",
"StatsLogIntervalSeconds": 10,
"AutoStartLocalizationOnReady": true,
"AutoStartLocalizationPollIntervalMs": 500,
"AutoStartLocalizationCooldownAfterStopMs": 10000
}
},
"Navigation": {
"Integration": {
"Enabled": true,
"UpdateIntervalMs": 100,
"EnableNavigationIntegration": true,
"EnableOdometryDispatch": true,
"OdomDispatchIntervalMs": 20,
"EnableLaserScan1": true,
"Lidar1DeviceId": "scan_1",
"EnableLaserScan2": true,
"Lidar2DeviceId": "scan_2",
"EnableLaserScan3": false,
"Lidar3DeviceId": "scan_3",
"EnableGridMapDispatch": true,
"UseOnlineGridMap": true,
"GridMapDispatchIntervalMs": 1000,
"LaserScanDispatchIntervalMs": 50,
"EnableTwistLinear": true,
"TwistDispatchIntervalMs": 20,
"EnableNavigationTwistDispatch": true,
"NavigationTwistDispatchIntervalMs": 20,
"RobotFootprint": [
{
"X": 0.4,
"Y": 0.275,
"Z": 0.0
},
{
"X": 0.4,
"Y": -0.275,
"Z": 0.0
},
{
"X": -0.4,
"Y": -0.275,
"Z": 0.0
},
{
"X": -0.4,
"Y": 0.275,
"Z": 0.0
}
]
}
},
"MarkerDetection": {
"Integration": {
"Enabled": false,
"MarkerType": "Segment",
"LidarDeviceId": "scan_1",
"LaserScanSensorId": "scan",
"LaserScanDispatchIntervalMs": 50,
"RectangleMarkerOptions": {
"MarkerFrameId": "marker",
"MarkerLength": 0.5,
"MarkerWidth": 0.3,
"MarkerGeometricError": 0.01,
"MarkerIntensityThreshold": 100.0,
"AngleMinOfScan": -1.57,
"AngleMaxOfScan": 1.57,
"MinRangeOfScan": 0.1,
"MaxRangeOfScan": 10.0,
"UseEstimateMarkerPose": false,
"MaxPositionError": 0.2,
"MaxYawAngleError": 0.1,
"NumFilterSamples": 5,
"LegThicknessOffset": 0.05,
"run_debug": true
},
"SegmentMarkerOptions": {
"MarkerFrameId": "segment_marker",
"MarkerLength": 0.3,
"MarkerGeometricError": 0.01,
"MarkerIntensityThreshold": 100.0,
"AngleMinOfScan": -1.57,
"AngleMaxOfScan": 1.57,
"MinRangeOfScan": 0.1,
"MaxRangeOfScan": 10.0,
"UseEstimateMarkerPose": false,
"MaxPositionError": 0.2,
"MaxYawAngleError": 0.1,
"NumFilterSamples": 5,
"LegThicknessOffset": 0.05,
"RunDebug": true
}
}
},
"ScriptEngine": {
"RuntimeDllFolder": "bin/dlls"
},
"StorageConfig": {
"UsingLocal": true,
"LocalFolder": "RobotAppCustomConfigs",
"Bucket": "robotapp-custom-configs",
"RetryCount": 3,
"MinioConfig": {
"Endpoint": "172.20.235.170:9000",
"User": "minio",
"Password": "robotics",
"EnableSSL": false
}
},
"LayoutImage": {
"UsingLocal": true,
"LocalFolder": "RobotAppLayoutImages",
"Bucket": "robotapp-layout-images",
"RetryCount": 3,
"MinioConfig": {
"Endpoint": "172.20.235.170:9000",
"User": "minio",
"Password": "robotics",
"EnableSSL": false
}
},
"RobotConfig": "ModelConfigs/dang-test.json"
}