75 lines
2.5 KiB
YAML
75 lines
2.5 KiB
YAML
lidarlib_node:
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ros__parameters:
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# Danh sach lidar chay cung luc. Them/bot ten tuy y; moi ten co 1 block rieng ben duoi.
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lidars: ["tim7", "nano", "nano1", "gs15", "1f"]
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gs15:
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brand: "OLEI" # "OLEI" = UDP | "SICK" = TCP/SOPAS
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model: "AUTO" # OLEI: AUTO/VB/VF/LR-1F/LR-1BS5/LR-16F/GS1-5 ; SICK: SICK-TIM5XX/SICK-TIM571/SICK-TIM7XX
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ip: "0.0.0.0" # OLEI: dia chi bind cua host (thuong 0.0.0.0) ; SICK: IP cua lidar
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port: 2368 # OLEI 2368/2369 ; SICK 2111
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inverted: false # true neu lidar lap up nguoc (OLEI: thu vien xu ly; brand khac: node dao chieu)
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topic: "scan_front" # topic publish (mac dinh: scan_<ten>)
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frame_id: "front" # frame TF (mac dinh: <ten>)
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timeout_ms: 1000
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range_min: 0.0
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range_max: 0.0
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angle_min_deg: -360.0
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angle_max_deg: 360.0
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1f:
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brand: "OLEI"
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model: "AUTO"
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ip: "0.0.0.0"
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port: 2371
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inverted: true
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topic: "scan_rear"
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frame_id: "rear"
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timeout_ms: 1000
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range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
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range_max: 0.0
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angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
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angle_max_deg: 360.0
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tim7:
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brand: "SICK"
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model: "SICK-TIM5XX"
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ip: "192.168.100.22"
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port: 2111
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inverted: false # true neu lap up nguoc (node dao chieu scan)
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topic: "scan_sick1"
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frame_id: "sick1"
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timeout_ms: 1000
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range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
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range_max: 0.0
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angle_min_deg: -360.0
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angle_max_deg: 360.0
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nano:
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brand: "SICK"
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model: "SICK-nanoScan3"
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ip: "0.0.0.0"
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port: 6061
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inverted: false # true neu lap up nguoc (node dao chieu scan)
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topic: "scan_front"
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frame_id: "front"
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timeout_ms: 1000
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range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
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range_max: 0.0
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angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
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angle_max_deg: 360.0
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nano1:
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brand: "SICK"
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model: "SICK-nanoScan3"
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ip: "0.0.0.0"
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port: 6062
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inverted: false # true neu lap up nguoc (node dao chieu scan)
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topic: "scan_front2"
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frame_id: "front2"
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timeout_ms: 1000
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range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
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range_max: 0.0
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angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
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angle_max_deg: 360.0 |