Vehicle_HealthCheck:
  diagnostics_check: true
  mqtt_reconnect_delay: 2500
  num_mqtt_reconnects: -1
agent_name: NRC_Leaf_Sierra
can_com_controller:
  ARS300Consumer: false
  ARS300ConsumerCh: 0
  Can1Consumer: false
  Can1ConsumerCh: 0
  Can1Writer: false
  Can1WriterCh: 0
  Can1WriterFS_CTRL: false
  Can1WriterFS_CTRLCh: 0
  Can1WriterHD_CTRL: false
  Can1WriterHD_CTRLCh: 0
  Can2Consumer: false
  Can2ConsumerCh: 0
  CanAdasConsumer: false
  CanAdasConsumerCh: 0
  CanAdasWriterXH0: true
  CanAdasWriterXH0Ch: 1
  CanAriyaITS6Writer: false
  CanAriyaITS6WriterCh: 0
  CanAriyaSvITS1Consumer: false
  CanAriyaSvITS1ConsumerCh: 0
  CanAriyaSvITS2Consumer: false
  CanAriyaSvITS2ConsumerCh: 0
  CanAriyaSvITS3Consumer: false
  CanAriyaSvITS3ConsumerCh: 0
  CanAriyaSvITS4Consumer: false
  CanAriyaSvITS4ConsumerCh: 0
  CanAriyaSvITS5Consumer: false
  CanAriyaSvITS5ConsumerCh: 0
  CanAriyaSvITS6Consumer: false
  CanAriyaSvITS6ConsumerCh: 0
  CanAriyaSvWriter: false
  CanAriyaSvWriterCh: 0
  CanIcConsumer: false
  CanIcConsumerCh: 0
  CanIntelPedalWriter: false
  CanIntelPedalWriterCh: 0
  CanLimaITS4Consumer: false
  CanLimaITS4ConsumerCh: 0
  CanProPILOTTransceiver: false
  CanProPILOTTransceiverCh: 0
  CanSerenaEvCanConsumer: false
  CanSerenaEvCanConsumerCh: 0
  CanSerenaItsCanConsumer: false
  CanSerenaItsCanConsumerCh: 0
  CanSerenaNaviCanConsumer: false
  CanSerenaNaviCanConsumerCh: 0
  CanSerenaVcanConsumer: false
  CanSerenaVcanConsumerCh: 0
  CanVConsumer: true
  CanVConsumerCh: 0
  CanZe1SvConsumer: false
  CanZe1SvConsumerCh: 0
  CanZe1SvWriter: false
  CanZe1SvWriterCh: 0
  ContiRadar: false
  ContiRadarCh: 0
  Eyeq2: false
  Eyeq2Ch: 0
  Eyeq3: false
  Eyeq3Ch: 0
  Eyeq3Prod: false
  Eyeq3ProdCh: 0
  Eyeq4Dev: false
  Eyeq4DevCh: 0
  Eyeq4DevFS: false
  Eyeq4DevFSCh: 0
  Eyeq4DevWrite: false
  Eyeq4DevWriteCh: 0
  Eyeq5DevCh0: false
  Eyeq5DevCh0Ch: 0
  Eyeq5DevCh1: false
  Eyeq5DevCh1Ch: 0
  Eyeq5DevWrite: false
  Eyeq5DevWriteCh: 0
  FAVISConsumer: false
  FAVISConsumerCh: 0
  LeafUdpCom: false
  MeterInfoConsumer: false
  MeterInfoConsumerCh: 0
  StereoCameraConsumer: false
  StereoCameraConsumerCh: 0
  adCan2Channel: 1
  controlMode: FS_CTRL
  evCanChannel: 1
  leafLimits:
    maxCurvature: 0.2
    maxForwardAccForce: 30000.0
    maxForwardDecForce: -30000.0
    maxForwardSpeed: 30.0
    maxReverseAccForce: 20000.0
    maxReverseDecForce: -20000.0
    maxReverseSpeed: 10.0
    maxSteeringWheelAngle: 9.42477796076938
  mEye3Can1Channel: 0
  mEye3Can2Channel: 0
  modular: true
  numChannels: 2
  useCanMessageTime: true
  vBoxInstance: false
  vCanChannel: 0
  vehicleType: LEAF_GEN2
cpu_monitor:
  clock_error_threshold: 0.2
  clock_warning_threshold: 0.1
  cpu_error_threshold: 90.0
  cpu_warning_threshold: 80.0
  temp_error_threshold: 95.0
  temp_warning_threshold: 85.0
  update_rate: 0.5
dabp_from_zed_node:
  boundary:
    max_height: 2.5
    max_radius: 18.0
    min_height: 0.3
    min_radius: 3.0
    num_angular_bins: 1200
  diagnostics:
    max_latency_sec: 0.5
    min_frequency_hz: 5.0
    msg_timeout_error_sec: 5.0
    msg_timeout_warn_sec: 2.0
  filter:
    max_x: 20.0
    max_y: 5.0
    max_z: -0.5
    min_x: 3.7
    min_y: -5.0
    min_z: -2.0
  filtered_cloud_topic: /obstacle/filtered_point_cloud
  fixed_dabp_z_level: -1.2
  ground_plane:
    enable_fallback: true
    max_failure_frames: 5
    normal_x: 0.0
    normal_y: -1.0
    normal_z: 0.0
  in_topic: zed2i/zed_node/point_cloud/cloud_registered
  out_filtered_topic_approach: /obstacle/dab_in_path/approach
  out_filtered_topic_scooch: /obstacle/dab_in_path/scooch
  out_topic: /obstacle/dab
  path_topic: /vehicle_trajectory_control
  pose_topic: /dynamic_global_pose
  pub_ground_plane: true
  ransac:
    distance_threshold: 0.03
    eps_angle_deg: 15.0
    max_iterations: 1000
  relevant_pc:
    threshold_distance_approach: 3.7
    threshold_distance_scooch: 2.7
  source_frame: zed2i_left_camera_frame
  sub_sampled_topic: /obstacle/subsampled_point_cloud
  subsampling:
    enable_random_sampling: true
    random_sample_size: 0.05
  target_frame: car
  use_full_transform: false
  voxel_resolution_m: 0.03
devname: /dev/gps/ublox/F9R
diagnostic_aggregator:
  analyzers:
    camera:
      path: Camera
      regex: Camera/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    clock:
      contains:
      - Clock
      path: System/Clock
      timeout: 60.0
      type: diagnostic_aggregator/GenericAnalyzer
    cpu:
      path: System/CPU
      regex: CPU.*
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    health:
      contains:
      - vehicle HM diagnostic
      path: Health
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_all:
      path: Latency
      regex: latency_.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_pointcloud:
      path: Latency/Sensors
      regex: latency_.*point_cloud.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    memory:
      contains:
      - Memory
      path: System/Memory
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    perception:
      path: Perception
      regex: Perception/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    pose:
      path: Pose
      regex: Pose/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
dynamicPoseTopic_f9r: /dynamic_global_pose_F9R
f9rRTCM_devname: /dev/gps/ublox/F9R_RTCM
f9r_devname: /dev/gps/ublox/F9R
fvla_data_fetcher:
  agent_name: NRC_Leaf_Sierra
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_sierra_pass
  fvla_service_jwt_username: NRC_Leaf_Sierra
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Sierra
fvla_recorder:
  dashboard_uri: ''
  fvla_component_type: ''
  fvla_recorder_timeout: 300
  fvla_service_jwt_password: fvla.natcsv.com
  fvla_service_jwt_username: fvla
  fvla_service_login_method: get
  fvla_service_login_path: /login
  fvla_service_url: http://fvla.nrcsv.com:8000
  mqtt_password: yg#eo5cbAksD82qt
  mqtt_port: 8883
  mqtt_server: mqtt-broker-ncal.nrcsv.com
  mqtt_tls: true
  mqtt_user: sam-teleop
  recorder_limit_rate: 1M
  topics_to_record:
  - /control_inputs
  - /controller_state
  - /driver_input
  - /dynamic_global_pose
  - /dynamic_global_pose_swiftnav
  - /gps_state
  - /gps_state_swiftnav
  - /hm_drive_state
  - /vehicle_trajectory_control
  - /tf
  - /follower_debug
  - /tf_static
  - /diagnostics
  - /ss_mode
  - /safety_shield_status
  - /rosout
  - /obstacle/dab
  - /obstacle/filtered_point_cloud
  - /recorded_vehicle_trajectory
  - (.*)diagnostics(.*)
  - (.*)occupancy(.*)
  - (.*)objects(.*)
  - /route/(.*)
  - /piksi/(.*)
  vehicle_id: ''
gps_stateTopic_f9r: /gps_state
health_indicator_node:
  drive_state_topic: /hm_drive_state
  serial_port: /dev/vpod/led
hm_config_file: /root/projects/fvla-vehiclepod/src/configs/health-monitor/Vehicle_HealthCheck.yaml
infrapod_data_file: ''
latency_monitor:
  topic_configs:
    topics:
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /sub_sampled_point_cloud
      update_rate: 0.5
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /drivable_area_boundary
      update_rate: 0.5
piksi:
  altitude0: 0
  base_station_ip_for_latency_estimation: 192.168.0.1
  base_station_mode: false
  baud_rate: 230400
  broadcast_addr: 192.168.0.255
  broadcast_port: 26078
  debug_mode: false
  driver_verbose: true
  interface: tcp
  latitude0_deg: 37.39718695686429
  longitude0_deg: -122.04398000000006
  navsatfix_frame_id: base_link
  publish_raw_imu_and_mag: false
  serial_port: /dev/ttyUSB0
  tcp_addr: 192.168.0.147
  tcp_port: 55555
  use_gps_time: false
  var_rtk_fix:
  - 0.0049
  - 0.0049
  - 0.01
  var_rtk_float:
  - 25.0
  - 25.0
  - 64.0
  var_spp:
  - 25.0
  - 25.0
  - 64.0
  var_spp_sbas:
  - 1.0
  - 1.0
  - 1.0
pose_estimator_cpp_node:
  ar_tag_map: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/maps/Franklin_Nov2024.yaml
  ekf:
    lag: 0.1
    state_dims: 3
  fusion_config: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/modes/swiftnav/fusion_config.yaml
  max_dead_reckon: 0.5
  nrc_pose:
    frame_id: site
    hz: 50
    publish: true
    topic_name: /dynamic_global_pose
  odometry:
    frame_id: site
    hz: 20
    publish: true
    topic_name: kbm_odom
  retry_init: 0.1
  reverse_support:
    enable: true
    gear_info_topic: /driver_input
  std_pose:
    covariance_scale: 100.0
    frame_id: site
    publish: true
    topic_name: /pose
  tf:
    base_frame: car
    enabled: true
    hz: 10
    parent_name: site
    publish: false
    source_frames:
      swiftnav: gps_antenna
      tags_zed_left_cam: zed2i_left_camera_frame
    timeout: 5.0
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"fvla\">\n  <!-- Top-level configuration parameters -->\n  <!--\
  \ *********************************** -->\n  <!-- Site frames macro -->\n  <!--\
  \ ***************** -->\n  <link name=\"site\"/>\n  <link name=\"map\"/>\n  <joint\
  \ name=\"site_to_map\" type=\"fixed\">\n    <parent link=\"site\"/>\n    <child\
  \ link=\"map\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <link\
  \ name=\"enu\"/>\n  <joint name=\"site_to_enu\" type=\"fixed\">\n    <parent link=\"\
  site\"/>\n    <child link=\"enu\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
  \  </joint>\n  <!-- Define local frame as child of site -->\n  <link name=\"local\"\
  />\n  <joint name=\"site_to_local\" type=\"fixed\">\n    <parent link=\"site\"/>\n\
  \    <child link=\"local\"/>\n    <origin rpy=\"0 0 0\" xyz=\"4850 -2220 0\"/>\n\
  \  </joint>\n  <!-- Sierra vehicle configuration -->\n  <!-- ****************************\
  \ -->\n  <!-- Nissan Leaf 2019 Vehicle Specifications -->\n  <!-- ***************************************\
  \ -->\n  <!-- car link -->\n  <link name=\"car\"/>\n  <!-- floating joint to parent\
  \ -->\n  <joint name=\"site_to_car\" type=\"fixed\">\n    <parent link=\"site\"\
  />\n    <child link=\"car\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- fixed frames and joints -->\n  <link name=\"car_center\">\n    <visual>\n\
  \      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_red.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!--\
  \ fixed frames and joints -->\n  <link name=\"car_ground\"/>\n  <joint name=\"car_to_car_ground\"\
  \ type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"car_ground\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 -0.26\"/>\n  </joint>\n  <joint name=\"\
  car_to_car_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  car_center\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.0 0.0\"/>\n  </joint>\n\
  \  <link name=\"front_bumper\"/>\n  <joint name=\"car_to_front_bumper\" type=\"\
  fixed\">\n    <parent link=\"car\"/>\n    <child link=\"front_bumper\"/>\n    <origin\
  \ rpy=\"0 0 0\" xyz=\"3.2 0 0\"/>\n  </joint>\n  <link name=\"rsu_centroid\"/>\n\
  \  <joint name=\"car_to_rsu_centroid\" type=\"fixed\">\n    <parent link=\"car\"\
  />\n    <child link=\"rsu_centroid\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.53 0.0\
  \ 0.7\"/>\n  </joint>\n  <!-- Tire visual elements at wheel positions -->\n  <link\
  \ name=\"front_left_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"\
  package://fvla_scripts/xacro/mesh/leaf_tire.dae\" scale=\"0.95 0.95 0.95\"/>\n \
  \     </geometry>\n    </visual>\n  </link>\n  <joint name=\"car_center_to_front_left_tire\"\
  \ type=\"fixed\">\n    <parent link=\"car_center\"/>\n    <child link=\"front_left_tire\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.725 0\"/>\n  </joint>\n  <link name=\"\
  front_right_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_front_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"front_right_tire\"/>\n    <origin rpy=\"3.141592653589793\
  \ 0 0\" xyz=\"1.275 -0.725 0\"/>\n  </joint>\n  <link name=\"rear_left_tire\">\n\
  \    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_left_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_left_tire\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-1.275\
  \ 0.725 0\"/>\n  </joint>\n  <link name=\"rear_right_tire\">\n    <visual>\n   \
  \   <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_right_tire\"/>\n    <origin rpy=\"3.141592653589793 0\
  \ 0\" xyz=\"-1.275 -0.725 0\"/>\n  </joint>\n  <!-- GPS sensor macro -->\n  <!--\
  \ **************** -->\n  <!-- GPS antenna frame -->\n  <link name=\"gps_antenna\"\
  />\n  <joint name=\"car_to_gps_antenna_frame\" type=\"fixed\">\n    <parent link=\"\
  car\"/>\n    <child link=\"gps_antenna\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.63737\
  \ 0.0 1.17526\"/>\n  </joint>\n  <!-- SwiftNav frame (identical to gps_antenna_frame)\
  \ -->\n  <link name=\"swiftnav\"/>\n  <joint name=\"gps_antenna_to_swiftnav\" type=\"\
  fixed\">\n    <parent link=\"gps_antenna\"/>\n    <child link=\"swiftnav\"/>\n \
  \   <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n  </joint>\n  <!-- ZED camera macro\
  \ -->\n  <!-- **************** -->\n  <material name=\"zed_mat\">\n    <color rgba=\"\
  0.8 0.8 0.8 0.8\"/>\n  </material>\n  <material name=\"zedm_mat\">\n    <color rgba=\"\
  0 0 0 0.9\"/>\n  </material>\n  <material name=\"zed2_mat\">\n    <color rgba=\"\
  0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zed2i_mat\">\n    <color\
  \ rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedx_mat\">\n\
  \    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedxm_mat\"\
  >\n    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <!-- Create dongle_center\
  \ frame (base for ZED camera) -->\n  <link name=\"dongle_center\"/>\n  <joint name=\"\
  car_to_dongle_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  dongle_center\"/>\n    <origin rpy=\"0.0 0.06981317007977318 0.0\" xyz=\"2.28425\
  \ 0.0 0.89\"/>\n  </joint>\n  <!-- Camera mounting point (the threaded screw hole\
  \ in the bottom) -->\n  <link name=\"zed2i_base_link\"/>\n  <joint name=\"zed2i_base_joint\"\
  \ type=\"fixed\">\n    <parent link=\"dongle_center\"/>\n    <child link=\"zed2i_base_link\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <!-- Camera Center\
  \ -->\n  <link name=\"zed2i_camera_center\">\n    <visual>\n      <origin rpy=\"\
  -1.5707963267948966 0 0\" xyz=\"-0.01 0 0.0\"/>\n      <geometry>\n        <mesh\
  \ filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n      </geometry>\n\
  \      <material name=\"zed2i_mat\"/>\n    </visual>\n    <collision>\n      <geometry>\n\
  \        <mesh filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n    \
  \  </geometry>\n    </collision>\n  </link>\n  <joint name=\"zed2i_camera_center_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_base_link\"/>\n    <child link=\"zed2i_camera_center\"\
  />\n    <origin rpy=\"0 0.0 0\" xyz=\"0 0 0.015\"/>\n  </joint>\n  <!-- Left Camera\
  \ -->\n  <link name=\"zed2i_left_camera_frame\"/>\n  <joint name=\"zed2i_left_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_left_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_left_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_left_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_left_camera_frame\"\
  />\n    <child link=\"zed2i_left_camera_optical_frame\"/>\n  </joint>\n  <!-- Right\
  \ Camera -->\n  <link name=\"zed2i_right_camera_frame\"/>\n  <joint name=\"zed2i_right_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_right_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 -0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_right_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_right_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_right_camera_frame\"\
  />\n    <child link=\"zed2i_right_camera_optical_frame\"/>\n  </joint>\n  <!-- Proximity\
  \ sensor macro -->\n  <!-- ********************** -->\n  <!-- Proximity sensor configuration\
  \ for sierra (dongle) -->\n  <!-- ***************************************************\
  \ -->\n  <!-- 2. Create proximity_sensor frame (attached to front_parent from config)\
  \ -->\n  <link name=\"proximity_sensor\">\n    <!-- 3. Create single collision element\
  \ with configured dimensions -->\n    <collision>\n      <geometry>\n        <box\
  \ size=\"1.0 2.0 1.0\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"\
  0 0 0\"/>\n    </collision>\n  </link>\n  <joint name=\"zed2i_left_camera_frame_to_proximity_sensor\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_left_camera_frame\"/>\n    <child link=\"\
  proximity_sensor\"/>\n    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.986 -0.06 -0.839\"\
  />\n  </joint>\n</robot>\n\n"
robot_state_publisher:
  publish_frequency: 0.1
ros_mqtt_parser:
  debug: true
  mqtt_host: mqtts.fvla.natcsv.com
  mqtt_password: nrc_leaf_sierra_pass
  mqtt_port: 8883
  mqtt_qos: 0
  mqtt_tls: true
  mqtt_to_ros:
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/dispatch
    ros_topic: /cmd/dispatch
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/safe_mode
    ros_topic: /cmd/safe_mode
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/active_mode
    ros_topic: /cmd/active_mode
    useJsonFormat: false
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_7
    ros_topic: /occupancy/multi_roi_route1_roi_7
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_7
    ros_topic: /objects/multi_roi_route1_roi_7
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_8p
    ros_topic: /occupancy/multi_roi_route1_roi_8p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_8p
    ros_topic: /objects/multi_roi_route1_roi_8p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_4
    ros_topic: /occupancy/multi_roi_route1_roi_4
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_4
    ros_topic: /objects/multi_roi_route1_roi_4
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_6
    ros_topic: /occupancy/multi_roi_route1_roi_6
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_6
    ros_topic: /objects/multi_roi_route1_roi_6
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_5
    ros_topic: /occupancy/multi_roi_route1_roi_5
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_5
    ros_topic: /objects/multi_roi_route1_roi_5
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_1
    ros_topic: /occupancy/multi_roi_route1_roi_1
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_1
    ros_topic: /objects/multi_roi_route1_roi_1
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_2
    ros_topic: /occupancy/multi_roi_route1_roi_2
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_2
    ros_topic: /objects/multi_roi_route1_roi_2
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_3
    ros_topic: /occupancy/multi_roi_route1_roi_3
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_3
    ros_topic: /objects/multi_roi_route1_roi_3
    useJsonFormat: true
    use_compression: false
  mqtt_user: NRC_Leaf_Sierra
  ros_to_mqtt:
  - message_type: std_msgs.msg.Byte
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/safety_shield/status
    ros_topic: /safety_shield_status
    useJsonFormat: true
    use_compression: false
  - message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/telemetry
    ros_topic: /vehicle_telemetry
    useJsonFormat: true
    use_compression: false
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/drive_state
    ros_topic: /hm_drive_state_json
    useJsonFormat: false
    use_compression: false
rosdistro: 'noetic

  '
roslaunch:
  uris:
    host_sierra_mist_halibut_ts_net__34555: http://sierra.mist-halibut.ts.net:34555/
    host_sierra_mist_halibut_ts_net__34897: http://sierra.mist-halibut.ts.net:34897/
    host_sierra_mist_halibut_ts_net__36053: http://sierra.mist-halibut.ts.net:36053/
    host_sierra_mist_halibut_ts_net__38865: http://sierra.mist-halibut.ts.net:38865/
    host_sierra_mist_halibut_ts_net__39417: http://sierra.mist-halibut.ts.net:39417/
    host_sierra_mist_halibut_ts_net__39803: http://sierra.mist-halibut.ts.net:39803/
    host_sierra_mist_halibut_ts_net__40491: http://sierra.mist-halibut.ts.net:40491/
    host_sierra_mist_halibut_ts_net__40577: http://sierra.mist-halibut.ts.net:40577/
    host_sierra_mist_halibut_ts_net__40643: http://sierra.mist-halibut.ts.net:40643/
    host_sierra_mist_halibut_ts_net__40861: http://sierra.mist-halibut.ts.net:40861/
    host_sierra_mist_halibut_ts_net__42813: http://sierra.mist-halibut.ts.net:42813/
    host_sierra_mist_halibut_ts_net__43663: http://sierra.mist-halibut.ts.net:43663/
    host_sierra_mist_halibut_ts_net__44347: http://sierra.mist-halibut.ts.net:44347/
    host_sierra_mist_halibut_ts_net__45505: http://sierra.mist-halibut.ts.net:45505/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.98961533828412,\n   \
  \ \"lat\": 37.376787588804255,\n    \"yaw\": 1.5793755563670953\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"69024ceb849867189cce87b6\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lat\": 37.376725384945956,\n    \"lon\": -121.98959370895115,\n\
  \    \"id\": \"parking_lot_bay_a_start\"\n  },\n  \"end_junction\": {\n    \"_id\"\
  : \"69024ceb849867189cce87bd\",\n    \"site_id\": \"natcsv\",\n    \"type\": \"\
  end\",\n    \"lat\": 37.37673156116998,\n    \"lon\": -121.98958716912215,\n   \
  \ \"id\": \"parking_lot_bay_b2_end\"\n  },\n  \"path_summary\": [\n    \"parking_lot_bay_a_start\"\
  ,\n    \"departure_segment_a\",\n    \"parking_lot_bay_b2_end\"\n  ],\n  \"decision_points\"\
  : [],\n  \"traj\": [\n    {\n      \"timestamp\": 1764963709.4844646,\n      \"\
  lon\": -121.98961868706306,\n      \"lat\": 37.376764715526924,\n      \"yaw_radians\"\
  : 1.5718758367051069,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963709.50446,\n      \"lon\": -121.98961868706306,\n      \"lat\": 37.376764715526924,\n\
  \      \"yaw_radians\": 1.5718758367051069,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963709.5244453,\n      \"lon\": -121.98961868706306,\n\
  \      \"lat\": 37.376764715526924,\n      \"yaw_radians\": 1.5718758367051069,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.5444653,\n  \
  \    \"lon\": -121.98961868706306,\n      \"lat\": 37.376764715526924,\n      \"\
  yaw_radians\": 1.5718758367051069,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.5646348,\n      \"lon\": -121.98961868089535,\n\
  \      \"lat\": 37.37676471692605,\n      \"yaw_radians\": 1.5721968764078615,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.584551,\n   \
  \   \"lon\": -121.98961868089535,\n      \"lat\": 37.37676471692605,\n      \"yaw_radians\"\
  : 1.5721968764078615,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963709.6045594,\n      \"lon\": -121.98961868089535,\n      \"lat\": 37.37676471692605,\n\
  \      \"yaw_radians\": 1.5721968764078615,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963709.6246066,\n      \"lon\": -121.98961868089535,\n\
  \      \"lat\": 37.37676471692605,\n      \"yaw_radians\": 1.5721968764078615,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.6446216,\n  \
  \    \"lon\": -121.98961868089535,\n      \"lat\": 37.37676471692605,\n      \"\
  yaw_radians\": 1.5721968764078615,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.6646576,\n      \"lon\": -121.98961867481766,\n\
  \      \"lat\": 37.37676471823281,\n      \"yaw_radians\": 1.572518070391948,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.6846714,\n  \
  \    \"lon\": -121.98961867481766,\n      \"lat\": 37.37676471823281,\n      \"\
  yaw_radians\": 1.572518070391948,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.704735,\n      \"lon\": -121.98961867481766,\n\
  \      \"lat\": 37.37676471823281,\n      \"yaw_radians\": 1.572518070391948,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.7248306,\n  \
  \    \"lon\": -121.98961867481766,\n      \"lat\": 37.37676471823281,\n      \"\
  yaw_radians\": 1.572518070391948,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.744502,\n      \"lon\": -121.98961867481766,\n\
  \      \"lat\": 37.37676471823281,\n      \"yaw_radians\": 1.572518070391948,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.7645085,\n  \
  \    \"lon\": -121.98961866877387,\n      \"lat\": 37.37676471952724,\n      \"\
  yaw_radians\": 1.5728384527557993,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.7846425,\n      \"lon\": -121.98961866877387,\n\
  \      \"lat\": 37.37676471952724,\n      \"yaw_radians\": 1.5728384527557993,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.8045573,\n  \
  \    \"lon\": -121.98961866877387,\n      \"lat\": 37.37676471952724,\n      \"\
  yaw_radians\": 1.5728384527557993,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.8246095,\n      \"lon\": -121.98961866877387,\n\
  \      \"lat\": 37.37676471952724,\n      \"yaw_radians\": 1.5728384527557993,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.8446028,\n  \
  \    \"lon\": -121.98961866877387,\n      \"lat\": 37.37676471952724,\n      \"\
  yaw_radians\": 1.5728384527557993,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963709.8646488,\n      \"lon\": -121.98961866264537,\n\
  \      \"lat\": 37.3767647208722,\n      \"yaw_radians\": 1.5731558759417594,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.8844984,\n  \
  \    \"lon\": -121.98961866264537,\n      \"lat\": 37.3767647208722,\n      \"yaw_radians\"\
  : 1.5731558759417594,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963709.9044633,\n      \"lon\": -121.98961866264537,\n      \"lat\": 37.3767647208722,\n\
  \      \"yaw_radians\": 1.5731558759417594,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963709.9245236,\n      \"lon\": -121.98961866264537,\n\
  \      \"lat\": 37.3767647208722,\n      \"yaw_radians\": 1.5731558759417594,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963709.944618,\n   \
  \   \"lon\": -121.98961866264537,\n      \"lat\": 37.3767647208722,\n      \"yaw_radians\"\
  : 1.5731558759417594,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963709.9645865,\n      \"lon\": -121.98961865654191,\n      \"lat\": 37.376764722168396,\n\
  \      \"yaw_radians\": 1.5734723045178411,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963709.9846184,\n      \"lon\": -121.98961865654191,\n\
  \      \"lat\": 37.376764722168396,\n      \"yaw_radians\": 1.5734723045178411,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.0046468,\n  \
  \    \"lon\": -121.98961865654191,\n      \"lat\": 37.376764722168396,\n      \"\
  yaw_radians\": 1.5734723045178411,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963710.024635,\n      \"lon\": -121.98961865654191,\n\
  \      \"lat\": 37.376764722168396,\n      \"yaw_radians\": 1.5734723045178411,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.0447025,\n  \
  \    \"lon\": -121.98961865654191,\n      \"lat\": 37.376764722168396,\n      \"\
  yaw_radians\": 1.5734723045178411,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963710.0646398,\n      \"lon\": -121.98961865050725,\n\
  \      \"lat\": 37.37676472349914,\n      \"yaw_radians\": 1.573788646354796,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.0847158,\n  \
  \    \"lon\": -121.98961865050725,\n      \"lat\": 37.37676472349914,\n      \"\
  yaw_radians\": 1.573788646354796,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963710.104699,\n      \"lon\": -121.98961865050725,\n\
  \      \"lat\": 37.37676472349914,\n      \"yaw_radians\": 1.573788646354796,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.124814,\n   \
  \   \"lon\": -121.98961865050725,\n      \"lat\": 37.37676472349914,\n      \"yaw_radians\"\
  : 1.573788646354796,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963710.1445026,\n      \"lon\": -121.98961865050725,\n      \"lat\": 37.37676472349914,\n\
  \      \"yaw_radians\": 1.573788646354796,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963710.164678,\n      \"lon\": -121.98961864446738,\n\
  \      \"lat\": 37.376764724730684,\n      \"yaw_radians\": 1.5741033915117222,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.1844637,\n  \
  \    \"lon\": -121.98961864446738,\n      \"lat\": 37.376764724730684,\n      \"\
  yaw_radians\": 1.5741033915117222,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963710.2046278,\n      \"lon\": -121.98961864446738,\n\
  \      \"lat\": 37.376764724730684,\n      \"yaw_radians\": 1.5741033915117222,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.2244558,\n  \
  \    \"lon\": -121.98961864446738,\n      \"lat\": 37.376764724730684,\n      \"\
  yaw_radians\": 1.5741033915117222,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963710.2446563,\n      \"lon\": -121.98961864446738,\n\
  \      \"lat\": 37.376764724730684,\n      \"yaw_radians\": 1.5741033915117222,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.264473,\n   \
  \   \"lon\": -121.9896186384683,\n      \"lat\": 37.37676472594404,\n      \"yaw_radians\"\
  : 1.5744174853610193,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963710.2847126,\n      \"lon\": -121.9896186384683,\n      \"lat\": 37.37676472594404,\n\
  \      \"yaw_radians\": 1.5744174853610193,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963710.3049402,\n      \"lon\": -121.9896186384683,\n\
  \      \"lat\": 37.37676472594404,\n      \"yaw_radians\": 1.5744174853610193,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.3248441,\n  \
  \    \"lon\": -121.9896186384683,\n      \"lat\": 37.37676472594404,\n      \"yaw_radians\"\
  : 1.5744174853610193,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963710.3448868,\n      \"lon\": -121.9896186384683,\n      \"lat\": 37.37676472594404,\n\
  \      \"yaw_radians\": 1.5744174853610193,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963710.3640428,\n      \"lon\": -121.98961863243964,\n\
  \      \"lat\": 37.37676472718179,\n      \"yaw_radians\": 1.5747296728503282,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963710.3844454,\n  \
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  yaw_radians\": 1.5787684880298782,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1764963801.1641626,\n      \"lon\": -121.9895887889981,\n\
  \      \"lat\": 37.37674172228779,\n      \"yaw_radians\": 1.5783740547441876,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.185116,\n   \
  \   \"lon\": -121.9895887889981,\n      \"lat\": 37.37674172228779,\n      \"yaw_radians\"\
  : 1.5783740547441876,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963801.205067,\n      \"lon\": -121.9895887889981,\n      \"lat\": 37.37674172228779,\n\
  \      \"yaw_radians\": 1.5783740547441876,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963801.2250838,\n      \"lon\": -121.9895887889981,\n\
  \      \"lat\": 37.37674172228779,\n      \"yaw_radians\": 1.5783740547441876,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.245095,\n   \
  \   \"lon\": -121.9895887889981,\n      \"lat\": 37.37674172228779,\n      \"yaw_radians\"\
  : 1.5783740547441876,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963801.265073,\n      \"lon\": -121.98958879040771,\n      \"lat\": 37.37674173792652,\n\
  \      \"yaw_radians\": 1.5779872815079947,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963801.2850778,\n      \"lon\": -121.98958879040771,\n\
  \      \"lat\": 37.37674173792652,\n      \"yaw_radians\": 1.5779872815079947,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.3051097,\n  \
  \    \"lon\": -121.98958879040771,\n      \"lat\": 37.37674173792652,\n      \"\
  yaw_radians\": 1.5779872815079947,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.3250914,\n      \"lon\": -121.98958879040771,\n\
  \      \"lat\": 37.37674173792652,\n      \"yaw_radians\": 1.5779872815079947,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.3440769,\n  \
  \    \"lon\": -121.98958879040771,\n      \"lat\": 37.37674173792652,\n      \"\
  yaw_radians\": 1.5779872815079947,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.3641224,\n      \"lon\": -121.98958879185643,\n\
  \      \"lat\": 37.37674175292851,\n      \"yaw_radians\": 1.5776062131330149,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.38507,\n    \
  \  \"lon\": -121.98958879185643,\n      \"lat\": 37.37674175292851,\n      \"yaw_radians\"\
  : 1.5776062131330149,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963801.4040604,\n      \"lon\": -121.98958879185643,\n      \"lat\": 37.37674175292851,\n\
  \      \"yaw_radians\": 1.5776062131330149,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963801.425061,\n      \"lon\": -121.98958879185643,\n\
  \      \"lat\": 37.37674175292851,\n      \"yaw_radians\": 1.5776062131330149,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.4450202,\n  \
  \    \"lon\": -121.98958879185643,\n      \"lat\": 37.37674175292851,\n      \"\
  yaw_radians\": 1.5776062131330149,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.4650762,\n      \"lon\": -121.98958879347455,\n\
  \      \"lat\": 37.37674176774917,\n      \"yaw_radians\": 1.577232899866056,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.4843206,\n  \
  \    \"lon\": -121.98958879347455,\n      \"lat\": 37.37674176774917,\n      \"\
  yaw_radians\": 1.577232899866056,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.505062,\n      \"lon\": -121.98958879347455,\n\
  \      \"lat\": 37.37674176774917,\n      \"yaw_radians\": 1.577232899866056,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.524432,\n   \
  \   \"lon\": -121.98958879347455,\n      \"lat\": 37.37674176774917,\n      \"yaw_radians\"\
  : 1.577232899866056,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1764963801.545025,\n      \"lon\": -121.98958879347455,\n      \"lat\": 37.37674176774917,\n\
  \      \"yaw_radians\": 1.577232899866056,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1764963801.5650618,\n      \"lon\": -121.98958879347455,\n\
  \      \"lat\": 37.37674176774917,\n      \"yaw_radians\": 1.577232899866056,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.5849884,\n  \
  \    \"lon\": -121.98958879519569,\n      \"lat\": 37.37674178202303,\n      \"\
  yaw_radians\": 1.5768666168884076,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.6050375,\n      \"lon\": -121.98958879519569,\n\
  \      \"lat\": 37.37674178202303,\n      \"yaw_radians\": 1.5768666168884076,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.6250064,\n  \
  \    \"lon\": -121.98958879519569,\n      \"lat\": 37.37674178202303,\n      \"\
  yaw_radians\": 1.5768666168884076,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.6450045,\n      \"lon\": -121.98958879519569,\n\
  \      \"lat\": 37.37674178202303,\n      \"yaw_radians\": 1.5768666168884076,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.6652353,\n  \
  \    \"lon\": -121.98958879712302,\n      \"lat\": 37.37674179589443,\n      \"\
  yaw_radians\": 1.5765096494670598,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.6846778,\n      \"lon\": -121.98958879712302,\n\
  \      \"lat\": 37.37674179589443,\n      \"yaw_radians\": 1.5765096494670598,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.7050092,\n  \
  \    \"lon\": -121.98958879712302,\n      \"lat\": 37.37674179589443,\n      \"\
  yaw_radians\": 1.5765096494670598,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.7257483,\n      \"lon\": -121.98958879712302,\n\
  \      \"lat\": 37.37674179589443,\n      \"yaw_radians\": 1.5765096494670598,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.7450676,\n  \
  \    \"lon\": -121.98958879712302,\n      \"lat\": 37.37674179589443,\n      \"\
  yaw_radians\": 1.5765096494670598,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.7650352,\n      \"lon\": -121.98958879894849,\n\
  \      \"lat\": 37.37674180949839,\n      \"yaw_radians\": 1.5761530827611236,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.7849953,\n  \
  \    \"lon\": -121.98958879894849,\n      \"lat\": 37.37674180949839,\n      \"\
  yaw_radians\": 1.5761530827611236,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.8049212,\n      \"lon\": -121.98958879894849,\n\
  \      \"lat\": 37.37674180949839,\n      \"yaw_radians\": 1.5761530827611236,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1764963801.8259957,\n  \
  \    \"lon\": -121.98958879894849,\n      \"lat\": 37.37674180949839,\n      \"\
  yaw_radians\": 1.5761530827611236,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1764963801.845063,\n      \"lon\": -121.98958879894849,\n\
  \      \"lat\": 37.37674180949839,\n      \"yaw_radians\": 1.5761530827611236,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    }\n  ]\n}"
run_id: a0307d1a-db74-11f0-8e8e-48b02d7ddada
safety_shield:
  arrow_head_length: 0.2
  arrow_head_width: 0.3
  arrow_shaft_width: 0.1
  arrow_skip: 5
  arrow_speed_scale: 0.5
  boundary_topic: /obstacle/dab
  boundary_viz_topic: ~boundary
  car_frame: car
  car_frame_path_viz_topic: ~car_frame_path_viz
  car_frame_traj_topic: ~car_frame_traj
  collision_points_topic: ~collision_points
  default_mode: 2
  input_path_viz_topic: ~input_path_viz
  input_traj_topic: ~input_traj
  min_arrow_length: 0.3
  modes:
    Approach:
      collision_check_skip: 2
      deceleration: 1.5
      forward_margin: 3.8
      mode_num: 1
      safety_margin: 1.2
      stopping_distance: 2.0
    Disabled:
      collision_check_skip: 1
      deceleration: .nan
      forward_margin: .nan
      mode_num: 0
      safety_margin: .nan
      stopping_distance: .nan
    Scooch:
      collision_check_skip: 2
      deceleration: 2.0
      forward_margin: 3.8
      mode_num: 2
      safety_margin: 0.75
      stopping_distance: 0.3
  moving_color:
  - 0.0
  - 1.0
  - 0.0
  - 1.0
  output_path_viz_topic: ~output_path_viz
  output_traj_topic: /vehicle_trajectory_control
  rect_markers_topic: ~collision_rects
  site_frame: site
  speed_profile_dist_topic: ~speed_profile_dist
  speed_profile_speed_topic: ~speed_profile_speed
  stopped_color:
  - 1.0
  - 0.0
  - 0.0
  - 1.0
  stopped_speed_threshold: 0.1
  trajectory_input_topic: /recorded_vehicle_trajectory
simulation_mode: false
site_data_file: /var/tmp/site_data.json
site_data_json: "{\n  \"_id\": \"69024cb6849867189cce87b4\",\n  \"id\": \"natcsv\"\
  ,\n  \"map_center\": {\n    \"lat\": 37.3767673829942,\n    \"lon\": -121.98958992391516,\n\
  \    \"bearing\": 0,\n    \"zoom\": 18.5\n  },\n  \"regions_of_interest\": [\n \
  \   {\n      \"id\": \"multi_roi_route1_roi_1\",\n      \"coordinates\": [\n   \
  \     {\n          \"lat\": 37.37727425658365,\n          \"lon\": -121.98952081098021\n\
  \        },\n        {\n          \"lat\": 37.37731111137564,\n          \"lon\"\
  : -121.98952237880296\n        },\n        {\n          \"lat\": 37.377308227277915,\n\
  \          \"lon\": -121.98936484191496\n        },\n        {\n          \"lat\"\
  : 37.37727783448984,\n          \"lon\": -121.9893627778084\n        },\n      \
  \  {\n          \"lat\": 37.37727425658365,\n          \"lon\": -121.98952081098021\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD04\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_2\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37731039035388,\n          \"lon\": -121.98936519329388\n\
  \        },\n        {\n          \"lat\": 37.37731046074225,\n          \"lon\"\
  : -121.98913204363413\n        },\n        {\n          \"lat\": 37.3772810909841,\n\
  \          \"lon\": -121.98913010414331\n        },\n        {\n          \"lat\"\
  : 37.37727894685214,\n          \"lon\": -121.98936211988728\n        },\n     \
  \   {\n          \"lat\": 37.37731039035388,\n          \"lon\": -121.98936519329388\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD04\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_3\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.377310460741526,\n          \"lon\": -121.98913295097685\n\
  \        },\n        {\n          \"lat\": 37.37730818251449,\n          \"lon\"\
  : -121.98887430086175\n        },\n        {\n          \"lat\": 37.37727664767067,\n\
  \          \"lon\": -121.98887365809337\n        },\n        {\n          \"lat\"\
  : 37.37728181201034,\n          \"lon\": -121.98913101148602\n        },\n     \
  \   {\n          \"lat\": 37.377310460741526,\n          \"lon\": -121.98913295097685\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD04\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_4\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37730890353769,\n          \"lon\": -121.98887430086172\n\
  \        },\n        {\n          \"lat\": 37.37730792741043,\n          \"lon\"\
  : -121.98855865880043\n        },\n        {\n          \"lat\": 37.377271344035954,\n\
  \          \"lon\": -121.98855359392377\n        },\n        {\n          \"lat\"\
  : 37.37727736869387,\n          \"lon\": -121.98887365809334\n        },\n     \
  \   {\n          \"lat\": 37.37730890353769,\n          \"lon\": -121.98887430086172\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD05\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_5\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37730648535235,\n          \"lon\": -121.9885559367719\n\
  \        },\n        {\n          \"lat\": 37.37728124948741,\n          \"lon\"\
  : -121.9882630077655\n        },\n        {\n          \"lat\": 37.37722702869215,\n\
  \          \"lon\": -121.98841107598112\n        },\n        {\n          \"lat\"\
  : 37.377270623013,\n          \"lon\": -121.98855450126607\n        },\n       \
  \ {\n          \"lat\": 37.37730648535235,\n          \"lon\": -121.9885559367719\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD05\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_6\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.377271080253834,\n          \"lon\": -121.98827549400659\n\
  \        },\n        {\n          \"lat\": 37.37713172630353,\n          \"lon\"\
  : -121.98831719453584\n        },\n        {\n          \"lat\": 37.377131064459135,\n\
  \          \"lon\": -121.98843166576552\n        },\n        {\n          \"lat\"\
  : 37.37722512120858,\n          \"lon\": -121.98840870593568\n        },\n     \
  \   {\n          \"lat\": 37.377271080253834,\n          \"lon\": -121.98827549400659\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_7\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.377180587063464,\n          \"lon\": -121.98871634388377\n\
  \        },\n        {\n          \"lat\": 37.377171737246385,\n          \"lon\"\
  : -121.98842020161183\n        },\n        {\n          \"lat\": 37.37713976772042,\n\
  \          \"lon\": -121.98842968465306\n        },\n        {\n          \"lat\"\
  : 37.377146984163716,\n          \"lon\": -121.9887151573203\n        },\n     \
  \   {\n          \"lat\": 37.377180587063464,\n          \"lon\": -121.98871634388377\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_8p\",\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37720186708479,\n          \"lon\": -121.98871836338732\n\
  \        },\n        {\n          \"lat\": 37.37719289104815,\n          \"lon\"\
  : -121.98841686054286\n        },\n        {\n          \"lat\": 37.377118320856695,\n\
  \          \"lon\": -121.9884359759967\n        },\n        {\n          \"lat\"\
  : 37.37711763039165,\n          \"lon\": -121.98871662561886\n        },\n     \
  \   {\n          \"lat\": 37.37720186708479,\n          \"lon\": -121.98871836338732\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\",\n      \"search_type\"\
  : \"specific\",\n      \"search_type_categories\": [\n        \"pedestrian\"\n \
  \     ]\n    }\n  ]\n}"
tf_publisher:
  pose_topic: /dynamic_global_pose
  robot_description_file: /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro
  target_frame: car
use_sim_time: false
vehicle:
  can_odom:
    description: defined for Nissan Leaf (NRC_Leaf_Hotel)
    hz: 50
    odom_factor: 1.033
    steering_factor: 0.86
    steering_ratio: 18.1
    wheel_base: 2.7
  swiftnav:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 1.63737
    - 0.0
    - 0.0
  tags_zed_left_cam:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 2.275320706603564
    - 0.06000000000000001
    - 0.0
vehicleFeeder:
  dynamicPoseTopicName: /dynamic_global_pose
  sourceMode: MODE_DYNAMIC_POSE
vehicleParameters:
  aeroDragCoeff: 0.31
  airDensity: 1.225
  controlPointToFront: 3.7
  controlPointToRear: 0.75
  fAxleCorneringStiffness: 62968.0
  frontalArea: 2.0
  gravity: 9.80665
  massFront: 980.0
  massRear: 815.0
  maxCurvature: 0.19
  maxLateralAcceleration: 3.0
  motorLatency: 0.03
  rAxleCorneringStiffness: 80190.0
  rollingResistanceCoef: 0.01
  steerRatio: 18.3
  steeringLatency: 0.03
  wheelBase: 2.7
  wheelRadius: 0.37
  width: 1.77
vehicle_data_file: /var/tmp/vehicle_data.json
vehicle_data_json: "{\n  \"_id\": \"68bb4a8b75833b9f9019c174\",\n  \"vin\": \"NRC_Leaf_Sierra\"\
  ,\n  \"description\": {\n    \"year\": 2024.0,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"gray\"\n  }\n}"
vehicle_id: NRC_Leaf_Sierra
vtc_gen_node:
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  max_traj_start_dist_meters: 10
  next_dest_topic: /destination
  publish_dp_viz_markers: true
  reached_dp_dist_tol_meters: 2.0
  reached_goal_dist_tol_meters: 0.5
  roi_latency_tol_secs: 5.0
  safety_shield_mode_topic: /ss_mode
  sim_mode: false
  stop_distance_offset: 4.7
  traj_start_idx: 0
  traj_switch_sleep_secs: 0.0
  veh_dest_topic: /destination_state
  vtc_boundary_dist_m: 5.0
  vtc_horizon_secs: 6
  vtc_num_steps: 25
  vtc_pub_hz: 10
  vtc_pub_topic: /recorded_vehicle_trajectory
  vtc_time_diff: 0.24
  zero_speed_meters_per_sec: 0.05
zed2i:
  zed_node:
    auto_exposure_gain: true
    auto_whitebalance: true
    brightness: 4
    contrast: 4
    depth:
      depth_mode: NEURAL_PLUS
      depth_registered:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      depth_stabilization: 10
      max_depth: 15.0
      min_depth: 0.3
      openni_depth_mode: false
    depth_confidence: 50
    depth_texture_conf: 100
    exposure: 100
    gain: 100
    gamma: 8
    general:
      base_frame: dongle_center
      camera_flip: AUTO
      camera_model: zed2i
      camera_name: zed2i
      gpu_id: -1
      grab_frame_rate: 30
      grab_resolution: HD720
      pub_downscale_factor: 2.0
      pub_frame_rate: 30.0
      pub_resolution: NATIVE
      region_of_interest: '[]'
      sdk_verbose: 1
      self_calib: true
      serial_number: 0
      svo_compression: 2
      svo_realtime: true
      zed_id: 0
    hue: 0
    left:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_rect_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    left_raw:
      image_raw_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_raw_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    mapping:
      clicked_point_topic: /clicked_point
      fused_pointcloud_freq: 1.0
      mapping_enabled: false
      max_mapping_range: -1
      resolution: 0.05
    object_detection:
      allow_reduced_precision_inference: true
      max_range: 15.0
      mc_animal: true
      mc_bag: true
      mc_electronics: true
      mc_fruit_vegetable: true
      mc_people: true
      mc_sport: true
      mc_vehicle: true
      model: MULTI_CLASS_BOX_ACCURATE
      object_tracking_enabled: true
      od_enabled: false
      prediction_timeout: 0.5
    point_cloud_freq: 10.0
    pos_tracking:
      area_memory: true
      area_memory_db_path: ''
      depth_min_range: 0.0
      fixed_z_value: 0.0
      floor_alignment: false
      imu_fusion: true
      init_odom_with_first_valid_pose: true
      initial_base_pose:
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      map_frame: map
      odometry_frame: odom
      path_max_count: -1
      path_pub_rate: 2.0
      pos_tracking_enabled: false
      pos_tracking_mode: GEN_2
      publish_map_tf: true
      publish_tf: true
      save_area_memory_db_on_exit: false
      set_as_static: false
      set_gravity_as_origin: true
      two_d_mode: false
    rgb:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_rect_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    rgb_raw:
      image_raw_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_raw_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    right:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_rect_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    right_raw:
      image_raw_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_raw_gray:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    saturation: 4
    sensors:
      max_pub_rate: 200.0
      publish_imu_tf: true
      sensors_timestamp_sync: false
    sharpness: 4
    stereo:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    stereo_raw:
      image_raw_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
    stream: ''
    svo_file: ''
    whitebalance_temperature: 0
