lidarlib_node:
  ros__parameters:
    # Danh sach lidar chay cung luc. Them/bot ten tuy y; moi ten co 1 block rieng ben duoi.
    lidars: ["tim7", "nano", "nano1", "gs15", "1f"]


    gs15:
      brand: "OLEI"        # "OLEI" = UDP  |  "SICK" = TCP/SOPAS
      model: "AUTO"        # OLEI: AUTO/VB/VF/LR-1F/LR-1BS5/LR-16F/GS1-5 ; SICK: SICK-TIM5XX/SICK-TIM571/SICK-TIM7XX
      ip: "0.0.0.0"        # OLEI: dia chi bind cua host (thuong 0.0.0.0) ; SICK: IP cua lidar
      port: 2368           # OLEI 2368/2369 ; SICK 2111
      inverted: false      # true neu lidar lap up nguoc (OLEI: thu vien xu ly; brand khac: node dao chieu)
      topic: "scan_front"  # topic publish (mac dinh: scan_<ten>)
      frame_id: "front"    # frame TF (mac dinh: <ten>)
      timeout_ms: 1000
      range_min: 0.0
      range_max: 0.0
      angle_min_deg: -360.0
      angle_max_deg: 360.0

    1f:
      brand: "OLEI"
      model: "AUTO"
      ip: "0.0.0.0"
      port: 2371
      inverted: true       
      topic: "scan_rear"
      frame_id: "rear"
      timeout_ms: 1000
      range_min: 0.0       # met; 0.0 = tat (dung gia tri thiet bi bao)
      range_max: 0.0
      angle_min_deg: -360.0  # do; +/-360 = tat (giu nguyen goc thiet bi)
      angle_max_deg: 360.0

    tim7:
      brand: "SICK"
      model: "SICK-TIM5XX"
      ip: "192.168.100.22"
      port: 2111
      inverted: false      # true neu lap up nguoc (node dao chieu scan)
      topic: "scan_sick1"
      frame_id: "sick1"
      timeout_ms: 1000
      range_min: 0.0       # met; 0.0 = tat (dung gia tri thiet bi bao)
      range_max: 0.0
      angle_min_deg: -360.0
      angle_max_deg: 360.0

    nano:
      brand: "SICK"
      model: "SICK-nanoScan3"
      ip: "0.0.0.0"
      port: 6061
      inverted: false      # true neu lap up nguoc (node dao chieu scan)
      topic: "scan_front"
      frame_id: "front"
      timeout_ms: 1000
      range_min: 0.0       # met; 0.0 = tat (dung gia tri thiet bi bao)
      range_max: 0.0
      angle_min_deg: -360.0  # do; +/-360 = tat (giu nguyen goc thiet bi)
      angle_max_deg: 360.0
  
    nano1:
      brand: "SICK"
      model: "SICK-nanoScan3"
      ip: "0.0.0.0"
      port: 6062
      inverted: false      # true neu lap up nguoc (node dao chieu scan)
      topic: "scan_front2"
      frame_id: "front2"
      timeout_ms: 1000
      range_min: 0.0       # met; 0.0 = tat (dung gia tri thiet bi bao)
      range_max: 0.0
      angle_min_deg: -360.0  # do; +/-360 = tat (giu nguyen goc thiet bi)
      angle_max_deg: 360.0