agent_name: NRC_Leaf_Pacific
av_state_manager:
  log_level: info
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
  Eyeq6DevWrite: false
  Eyeq6DevWriteCh: 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_Pacific
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_pacific_pass
  fvla_service_jwt_username: NRC_Leaf_Pacific
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Pacific
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
  log_level: info
  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
  - /tf_static
  - /diagnostics
  - /ss_mode
  - /safety_shield_status
  - /rosout
  - /obstacle/dab
  - /recorded_vehicle_trajectory
  - (.*)diagnostics(.*)
  - (.*)occupancy(.*)
  - (.*)objects(.*)
  - /route/(.*)
  - /piksi/(.*)
  vehicle_id: ''
gps_stateTopic_f9r: /gps_state
health_diag_agg:
  log_level: error
hm_config_file: /root/projects/fvla-base/nrc_ws/src/health-monitor/HealthCheck/yaml/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
path_summary:
- rooftop_demo_start
- rooftop_demo_segment_1
- rooftop_demo_junction_1
- rooftop_demo_segment_2
- rooftop_demo_junction_2
- rooftop_demo_segment_3
- rooftop_demo_end
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/pacific.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=\"2.30738\
  \ 0.0 0.88712\"/>\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:
  dynamic_subscription: true
  log_level: info
  mqtt_host: mqtts.fvla.natcsv.com
  mqtt_password: nrc_leaf_pacific_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
  mqtt_user: NRC_Leaf_Pacific
  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_pacific_mist_halibut_ts_net__33677: http://pacific.mist-halibut.ts.net:33677/
    host_pacific_mist_halibut_ts_net__34139: http://pacific.mist-halibut.ts.net:34139/
    host_pacific_mist_halibut_ts_net__34509: http://pacific.mist-halibut.ts.net:34509/
    host_pacific_mist_halibut_ts_net__35515: http://pacific.mist-halibut.ts.net:35515/
    host_pacific_mist_halibut_ts_net__35587: http://pacific.mist-halibut.ts.net:35587/
    host_pacific_mist_halibut_ts_net__36451: http://pacific.mist-halibut.ts.net:36451/
    host_pacific_mist_halibut_ts_net__36965: http://pacific.mist-halibut.ts.net:36965/
    host_pacific_mist_halibut_ts_net__39907: http://pacific.mist-halibut.ts.net:39907/
    host_pacific_mist_halibut_ts_net__39977: http://pacific.mist-halibut.ts.net:39977/
    host_pacific_mist_halibut_ts_net__40707: http://pacific.mist-halibut.ts.net:40707/
    host_pacific_mist_halibut_ts_net__41481: http://pacific.mist-halibut.ts.net:41481/
    host_pacific_mist_halibut_ts_net__41703: http://pacific.mist-halibut.ts.net:41703/
    host_pacific_mist_halibut_ts_net__42339: http://pacific.mist-halibut.ts.net:42339/
    host_pacific_mist_halibut_ts_net__43619: http://pacific.mist-halibut.ts.net:43619/
    host_pacific_mist_halibut_ts_net__45579: http://pacific.mist-halibut.ts.net:45579/
rosversion: '1.17.0

  '
route_data_file: ''
route_data_json: ''
run_id: 4c490c42-06b4-11f1-bd28-3c6d661aa753
safety_shield:
  collision_checker:
    base:
      length: 3.8
      short_circuit: true
      skip: 2
      width: 1.79
    defaults:
      length_scale: 1.0
      planning_horizon: 30.0
      width_scale: 1.0
    overrides:
      Approach.dab:
        enabled: false
        width_scale: 1.3
      Approach.person:
        width_scale: 2.0
      Approach.vehicle:
        enabled: true
        width_scale: 2.0
      RSU.dab:
        enabled: false
      RSU.person:
        enabled: false
      RSU.vehicle:
        enabled: false
      Scooch.dab:
        width_scale: 0.54
      Scooch.person:
        width_scale: 3.0
      Scooch.vehicle:
        enabled: true
        width_scale: 1.0
    types:
      dab:
        width_scale: 1.3
      person:
        width_scale: 1.5
      vehicle:
        width_scale: 2.0
    visualization:
      boundary:
        include_rear: true
        rear_collision_color:
        - 0.5
        - 0.5
        - 0.5
        - 1.0
        rear_color:
        - 0.5
        - 0.5
        - 0.5
        - 1.0
      collision_points:
        dab_point_size: 0.1
        object_sphere_size: 0.3
      colors:
        dab:
          boundary:
          - 0.969
          - 0.875
          - 0.443
          - 1.0
          boundary_collision:
          - 0.969
          - 0.875
          - 0.443
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 1.0
          - 1.0
          - 0.0
          - 0.3
        person:
          boundary:
          - 0.361
          - 0.839
          - 0.663
          - 1.0
          boundary_collision:
          - 0.361
          - 0.839
          - 0.663
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 1.0
          - 0.5
          - 0.0
          - 0.3
        vehicle:
          boundary:
          - 0.38
          - 0.796
          - 1.0
          - 1.0
          boundary_collision:
          - 0.38
          - 0.796
          - 1.0
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 0.5
          - 0.0
          - 1.0
          - 0.3
  dab_filter:
    min_x: 0.0
  debug: true
  debug_topics:
    speed_dist: ~debug/speed_plan/dist
    speed_input: ~debug/speed_plan/input_speed
    speed_output: ~debug/speed_plan/output_speed
  default_mode: Scooch
  frames:
    collision_check: car
    visualization: site
  mode_topic: /ss_mode
  modes:
    Approach:
      description: Standard approach - wider safety margins
      mode_num: 1
    Disabled:
      description: Pure passthrough - no collision checking
      mode_num: -1
    RSU:
      description: RSU mode - object detection only
      mode_num: 0
    Scooch:
      description: Tight maneuvering - narrower margins
      mode_num: 2
  node_name: safety_shield
  object_filter:
    label_ids:
      person:
      - 0
      vehicle:
      - 1
      - 2
    labels:
      person:
      - Person
      vehicle:
      - Vehicle
      - Car
    min_confidence:
      person: 0.5
      vehicle: 0.5
    min_x:
      person: 0.0
      vehicle: 4.5
  speed_profile:
    defaults:
      deceleration: 1.5
      stopping_distance: 2.0
    overrides:
      Approach.dab:
        stopping_distance: 3.0
      Approach.person:
        stopping_distance: 4.0
      Approach.vehicle:
        stopping_distance: 5.0
      Scooch:
        deceleration: 2.0
      Scooch.dab:
        stopping_distance: 1.0
      Scooch.person:
        stopping_distance: 2.0
      Scooch.vehicle:
        stopping_distance: 0.2
    types:
      dab:
        stopping_distance: 1.0
      person:
        stopping_distance: 2.0
      vehicle:
        stopping_distance: 3.0
  topics:
    boundary: /obstacle/dab
    object_detection: /zed2i/zed_node/obj_det/objects
    trajectory_input: /recorded_vehicle_trajectory
    trajectory_output: /vehicle_trajectory_control
  trajectory_visualization:
    arrow_head_length: 0.2
    arrow_head_width: 0.3
    arrow_shaft_width: 0.1
    arrow_skip: 5
    arrow_speed_scale: 0.5
    min_arrow_length: 0.3
    moving_color:
    - 0.0
    - 1.0
    - 0.0
    - 1.0
    stopped_color:
    - 1.0
    - 0.0
    - 0.0
    - 1.0
    stopped_speed_threshold: 0.01
  visualization_topics:
    input_path: ~trajectory/input
    object_collisions: ~object_collisions
    output_path: ~output_path_viz
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      \"search_type\": \"all\"\
  ,\n      \"search_type_categories\": [],\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-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_2\",\n      \"search_type\": \"all\",\n    \
  \  \"search_type_categories\": [],\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-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_3\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\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-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_4\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\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-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_5\",\n      \"search_type\": \"all\",\n    \
  \  \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n      \
  \    \"lat\": 37.37730648535235,\n          \"lon\": -121.98855960117157\n     \
  \   },\n        {\n          \"lat\": 37.377292646179114,\n          \"lon\": -121.98838345280596\n\
  \        },\n        {\n          \"lat\": 37.377263136703675,\n          \"lon\"\
  : -121.98840374718213\n        },\n        {\n          \"lat\": 37.377270623013,\n\
  \          \"lon\": -121.98855450126607\n        },\n        {\n          \"lat\"\
  : 37.37730648535235,\n          \"lon\": -121.98855960117157\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_6\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.377291692048075,\n     \
  \     \"lon\": -121.98838515735869\n        },\n        {\n          \"lat\": 37.377251895488754,\n\
  \          \"lon\": -121.98832890169253\n        },\n        {\n          \"lat\"\
  : 37.377239214310094,\n          \"lon\": -121.9883677468682\n        },\n     \
  \   {\n          \"lat\": 37.37726425054096,\n          \"lon\": -121.9884056572021\n\
  \        },\n        {\n          \"lat\": 37.377291692048075,\n          \"lon\"\
  : -121.98838515735869\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_7\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37717312719562,\n          \"lon\": -121.98852603289653\n\
  \        },\n        {\n          \"lat\": 37.37716566732546,\n          \"lon\"\
  : -121.98840006395912\n        },\n        {\n          \"lat\": 37.37713590504164,\n\
  \          \"lon\": -121.98839704776779\n        },\n        {\n          \"lat\"\
  : 37.37714223697283,\n          \"lon\": -121.98852655315791\n        },\n     \
  \   {\n          \"lat\": 37.37717312719562,\n          \"lon\": -121.98852603289653\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_8p\",\n      \"search_type\": \"specific\",\n\
  \      \"search_type_categories\": [\n        \"pedestrian\"\n      ],\n      \"\
  coordinates\": [\n        {\n          \"lat\": 37.37719237271017,\n          \"\
  lon\": -121.98852549216231\n        },\n        {\n          \"lat\": 37.37719054694111,\n\
  \          \"lon\": -121.98840112808088\n        },\n        {\n          \"lat\"\
  : 37.37711441400886,\n          \"lon\": -121.98839369500534\n        },\n     \
  \   {\n          \"lat\": 37.37711356136984,\n          \"lon\": -121.98852460780672\n\
  \        },\n        {\n          \"lat\": 37.37719237271017,\n          \"lon\"\
  : -121.98852549216231\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"parking_roi_1\",\n      \"search_type\": \"all\"\
  ,\n      \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37705458699665,\n          \"lon\": -121.98916162379288\n\
  \        },\n        {\n          \"lat\": 37.37705639554531,\n          \"lon\"\
  : -121.98823761497655\n        },\n        {\n          \"lat\": 37.37699671341312,\n\
  \          \"lon\": -121.98823761497655\n        },\n        {\n          \"lat\"\
  : 37.3769903834867,\n          \"lon\": -121.98916162379288\n        },\n      \
  \  {\n          \"lat\": 37.37705458699665,\n          \"lon\": -121.98916162379288\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_10\",\n      \"search_type\": \"all\",\n   \
  \   \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n     \
  \     \"lat\": 37.37731057514148,\n          \"lon\": -121.98952666897458\n    \
  \    },\n        {\n          \"lat\": 37.37727719205243,\n          \"lon\": -121.98952236030554\n\
  \        },\n        {\n          \"lat\": 37.377270344237985,\n          \"lon\"\
  : -121.98963761720266\n        },\n        {\n          \"lat\": 37.37729773549371,\n\
  \          \"lon\": -121.98964515737356\n        },\n        {\n          \"lat\"\
  : 37.37731057514148,\n          \"lon\": -121.98952666897458\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_11\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.37729687951719,\n      \
  \    \"lon\": -121.98964731170821\n        },\n        {\n          \"lat\": 37.377270344237985,\n\
  \          \"lon\": -121.98963761720266\n        },\n        {\n          \"lat\"\
  : 37.37724466492652,\n          \"lon\": -121.98966023771536\n        },\n     \
  \   {\n          \"lat\": 37.377263496422074,\n          \"lon\": -121.98967854955875\n\
  \        },\n        {\n          \"lat\": 37.37729687951719,\n          \"lon\"\
  : -121.98964731170821\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_12\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37724552090367,\n          \"lon\": -121.98966023771536\n\
  \        },\n        {\n          \"lat\": 37.37726435239898,\n          \"lon\"\
  : -121.98967962672594\n        },\n        {\n          \"lat\": 37.37721299376322,\n\
  \          \"lon\": -121.98968608972964\n        },\n        {\n          \"lat\"\
  : 37.37721128180817,\n          \"lon\": -121.9896591605479\n        },\n      \
  \  {\n          \"lat\": 37.37724552090367,\n          \"lon\": -121.98966023771536\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_13\",\n      \"search_type\": \"all\",\n   \
  \   \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n     \
  \     \"lat\": 37.37721299376322,\n          \"lon\": -121.98968501256219\n    \
  \    },\n        {\n          \"lat\": 37.37721128180817,\n          \"lon\": -121.9896591605479\n\
  \        },\n        {\n          \"lat\": 37.3771847464987,\n          \"lon\"\
  : -121.98963977153731\n        },\n        {\n          \"lat\": 37.37716933889544,\n\
  \          \"lon\": -121.9896645463844\n        },\n        {\n          \"lat\"\
  : 37.37721299376322,\n          \"lon\": -121.98968501256219\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_14\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.377171050851445,\n     \
  \     \"lon\": -121.9896656235516\n        },\n        {\n          \"lat\": 37.377183890520854,\n\
  \          \"lon\": -121.98964084870451\n        },\n        {\n          \"lat\"\
  : 37.37717019487344,\n          \"lon\": -121.98960099351586\n        },\n     \
  \   {\n          \"lat\": 37.377148795419814,\n          \"lon\": -121.9896160738574\n\
  \        },\n        {\n          \"lat\": 37.377171050851445,\n          \"lon\"\
  : -121.9896656235516\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_15\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37717190682939,\n          \"lon\": -121.98960314785026\n\
  \        },\n        {\n          \"lat\": 37.377175330742034,\n          \"lon\"\
  : -121.98936401671821\n        },\n        {\n          \"lat\": 37.37715136335447,\n\
  \          \"lon\": -121.98936401671823\n        },\n        {\n          \"lat\"\
  : 37.37714965139804,\n          \"lon\": -121.9896160738574\n        },\n      \
  \  {\n          \"lat\": 37.37717190682939,\n          \"lon\": -121.98960314785026\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_16\",\n      \"search_type\": \"all\",\n   \
  \   \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n     \
  \     \"lat\": 37.377151333226365,\n          \"lon\": -121.98936431382508\n   \
  \     },\n        {\n          \"lat\": 37.37717553671246,\n          \"lon\": -121.98936405339194\n\
  \        },\n        {\n          \"lat\": 37.37717658935598,\n          \"lon\"\
  : -121.98924771246249\n        },\n        {\n          \"lat\": 37.377152899923644,\n\
  \          \"lon\": -121.98924879649519\n        },\n        {\n          \"lat\"\
  : 37.377151333226365,\n          \"lon\": -121.98936431382508\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_17\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.37717826012248,\n      \
  \    \"lon\": -121.98871826160918\n        },\n        {\n          \"lat\": 37.377181155357135,\n\
  \          \"lon\": -121.98898908604193\n        },\n        {\n          \"lat\"\
  : 37.377151237934626,\n          \"lon\": -121.98898787158265\n        },\n    \
  \    {\n          \"lat\": 37.3771502728563,\n          \"lon\": -121.98871461823137\n\
  \        },\n        {\n          \"lat\": 37.37717826012248,\n          \"lon\"\
  : -121.98871826160918\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_18\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37725216290309,\n          \"lon\": -121.98832932519375\n\
  \        },\n        {\n          \"lat\": 37.37720093503984,\n          \"lon\"\
  : -121.98831101114223\n        },\n        {\n          \"lat\": 37.37719744222993,\n\
  \          \"lon\": -121.98834837180692\n        },\n        {\n          \"lat\"\
  : 37.37723935594032,\n          \"lon\": -121.98836595329607\n        },\n     \
  \   {\n          \"lat\": 37.37725216290309,\n          \"lon\": -121.98832932519375\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_19\",\n      \"search_type\": \"all\",\n   \
  \   \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n     \
  \     \"lat\": 37.37719813270621,\n          \"lon\": -121.98834878311301\n    \
  \    },\n        {\n          \"lat\": 37.37720081383121,\n          \"lon\": -121.98831166973703\n\
  \        },\n        {\n          \"lat\": 37.37715362601452,\n          \"lon\"\
  : -121.98833798649454\n        },\n        {\n          \"lat\": 37.37717132144914,\n\
  \          \"lon\": -121.98836902677272\n        },\n        {\n          \"lat\"\
  : 37.37719813270621,\n          \"lon\": -121.98834878311301\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_20\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.37717209956884,\n      \
  \    \"lon\": -121.98837014585054\n        },\n        {\n          \"lat\": 37.37715382177514,\n\
  \          \"lon\": -121.98833805161361\n        },\n        {\n          \"lat\"\
  : 37.3771359690421,\n          \"lon\": -121.98839742595172\n        },\n      \
  \  {\n          \"lat\": 37.377164023335325,\n          \"lon\": -121.98840010047155\n\
  \        },\n        {\n          \"lat\": 37.37717209956884,\n          \"lon\"\
  : -121.98837014585054\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_21p\",\n      \"search_type\"\
  : \"specific\",\n      \"search_type_categories\": [\n        \"pedestrian\"\n \
  \     ],\n      \"coordinates\": [\n        {\n          \"lat\": 37.37720352302132,\n\
  \          \"lon\": -121.98871512801347\n        },\n        {\n          \"lat\"\
  : 37.377206648495715,\n          \"lon\": -121.9889884795397\n        },\n     \
  \   {\n          \"lat\": 37.37711679104889,\n          \"lon\": -121.98898651298208\n\
  \        },\n        {\n          \"lat\": 37.377117572418385,\n          \"lon\"\
  : -121.98871709457109\n        },\n        {\n          \"lat\": 37.37720352302132,\n\
  \          \"lon\": -121.98871512801347\n        }\n      ],\n      \"infrapod_id\"\
  : \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_22p\",\n\
  \      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n   \
  \     \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n          \"\
  lat\": 37.377188357886865,\n          \"lon\": -121.98840254692186\n        },\n\
  \        {\n          \"lat\": 37.37711236617507,\n          \"lon\": -121.98839423141379\n\
  \        },\n        {\n          \"lat\": 37.377146727654804,\n          \"lon\"\
  : -121.98828363515526\n        },\n        {\n          \"lat\": 37.37721743295644,\n\
  \          \"lon\": -121.98838258970224\n        },\n        {\n          \"lat\"\
  : 37.377188357886865,\n          \"lon\": -121.98840254692186\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_23p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3772179617676,\n          \"lon\": -121.9883833963035\n        },\n\
  \        {\n          \"lat\": 37.37714783467641,\n          \"lon\": -121.9882849374395\n\
  \        },\n        {\n          \"lat\": 37.37729852090763,\n          \"lon\"\
  : -121.98827837351527\n        },\n        {\n          \"lat\": 37.37724404207424,\n\
  \          \"lon\": -121.98842715579879\n        },\n        {\n          \"lat\"\
  : 37.3772179617676,\n          \"lon\": -121.9883833963035\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_24p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3772973868078,\n          \"lon\": -121.98827989045533\n        },\n\
  \        {\n          \"lat\": 37.377244185097965,\n          \"lon\": -121.98842604759669\n\
  \        },\n        {\n          \"lat\": 37.377250179659,\n          \"lon\":\
  \ -121.9885872919273\n        },\n        {\n          \"lat\": 37.37733110618099,\n\
  \          \"lon\": -121.98847885275751\n        },\n        {\n          \"lat\"\
  : 37.3772973868078,\n          \"lon\": -121.98827989045533\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_25p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.37733260482011,\n          \"lon\": -121.98848073865645\n       \
  \ },\n        {\n          \"lat\": 37.37726534922288,\n          \"lon\": -121.98856605022341\n\
  \        },\n        {\n          \"lat\": 37.37727097771558,\n          \"lon\"\
  : -121.98884633666056\n        },\n        {\n          \"lat\": 37.377334852777636,\n\
  \          \"lon\": -121.98884660298467\n        },\n        {\n          \"lat\"\
  : 37.37733260482011,\n          \"lon\": -121.98848073865645\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_26p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3773357981554,\n          \"lon\": -121.98884774011961\n        },\n\
  \        {\n          \"lat\": 37.37725124737554,\n          \"lon\": -121.98884575134741\n\
  \        },\n        {\n          \"lat\": 37.37725756893282,\n          \"lon\"\
  : -121.9891351177227\n        },\n        {\n          \"lat\": 37.377339749123834,\n\
  \          \"lon\": -121.9891351177227\n        },\n        {\n          \"lat\"\
  : 37.3773357981554,\n          \"lon\": -121.98884774011961\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_27p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.377339749123834,\n          \"lon\": -121.98913611210881\n      \
  \  },\n        {\n          \"lat\": 37.377256778738285,\n          \"lon\": -121.9891351177227\n\
  \        },\n        {\n          \"lat\": 37.37725440815463,\n          \"lon\"\
  : -121.98936581531377\n        },\n        {\n          \"lat\": 37.377336588349124,\n\
  \          \"lon\": -121.98936482092765\n        },\n        {\n          \"lat\"\
  : 37.377339749123834,\n          \"lon\": -121.98913611210881\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_28p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.377338168736486,\n          \"lon\": -121.98936680969987\n      \
  \  },\n        {\n          \"lat\": 37.37725440815463,\n          \"lon\": -121.98936581531377\n\
  \        },\n        {\n          \"lat\": 37.377247296402444,\n          \"lon\"\
  : -121.98952591148682\n        },\n        {\n          \"lat\": 37.377336588349124,\n\
  \          \"lon\": -121.98952889464516\n        },\n        {\n          \"lat\"\
  : 37.377338168736486,\n          \"lon\": -121.98936680969987\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_29p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.37733737854282,\n          \"lon\": -121.98953088341784\n       \
  \ },\n        {\n          \"lat\": 37.37730735117495,\n          \"lon\": -121.98972777187882\n\
  \        },\n        {\n          \"lat\": 37.37722833172788,\n          \"lon\"\
  : -121.98962833326223\n        },\n        {\n          \"lat\": 37.37724808659706,\n\
  \          \"lon\": -121.98952491710071\n        },\n        {\n          \"lat\"\
  : 37.37733737854282,\n          \"lon\": -121.98953088341784\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_30p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.37722842936101,\n          \"lon\": -121.98962883587917\n       \
  \ },\n        {\n          \"lat\": 37.377307393915956,\n          \"lon\": -121.98972820541958\n\
  \        },\n        {\n          \"lat\": 37.3771336717851,\n          \"lon\"\
  : -121.98971138903578\n        },\n        {\n          \"lat\": 37.37719198415361,\n\
  \          \"lon\": -121.98959826063606\n        },\n        {\n          \"lat\"\
  : 37.37722842936101,\n          \"lon\": -121.98962883587917\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_31p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3771944138345,\n          \"lon\": -121.98959978939848\n        },\n\
  \        {\n          \"lat\": 37.377199273196624,\n          \"lon\": -121.98936436002631\n\
  \        },\n        {\n          \"lat\": 37.377121523369496,\n          \"lon\"\
  : -121.98935977373975\n        },\n        {\n          \"lat\": 37.3771336717851,\n\
  \          \"lon\": -121.98971291779785\n        },\n        {\n          \"lat\"\
  : 37.3771944138345,\n          \"lon\": -121.98959978939848\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_32p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.37720291771757,\n          \"lon\": -121.98936283126424\n       \
  \ },\n        {\n          \"lat\": 37.37720656223834,\n          \"lon\": -121.98924817410247\n\
  \        },\n        {\n          \"lat\": 37.37711787884402,\n          \"lon\"\
  : -121.98924664534039\n        },\n        {\n          \"lat\": 37.377120308527296,\n\
  \          \"lon\": -121.98935977373975\n        },\n        {\n          \"lat\"\
  : 37.37720291771757,\n          \"lon\": -121.98936283126424\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_35p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3772045389552,\n          \"lon\": -121.98871484300386\n        },\n\
  \        {\n          \"lat\": 37.377193134480066,\n          \"lon\": -121.98852468619975\n\
  \        },\n        {\n          \"lat\": 37.37711401588591,\n          \"lon\"\
  : -121.98852289226775\n        },\n        {\n          \"lat\": 37.37711900534967,\n\
  \          \"lon\": -121.98871932783388\n        },\n        {\n          \"lat\"\
  : 37.3772045389552,\n          \"lon\": -121.98871484300386\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_33p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.377208991919346,\n          \"lon\": -121.98924970286453\n      \
  \  },\n        {\n          \"lat\": 37.37720656223834,\n          \"lon\": -121.98898675577374\n\
  \        },\n        {\n          \"lat\": 37.37711666400233,\n          \"lon\"\
  : -121.98898522701165\n        },\n        {\n          \"lat\": 37.37711909368565,\n\
  \          \"lon\": -121.98924664534039\n        },\n        {\n          \"lat\"\
  : 37.377208991919346,\n          \"lon\": -121.98924970286453\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_34\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.37717816610399,\n      \
  \    \"lon\": -121.98871394603785\n        },\n        {\n          \"lat\": 37.37717317664489,\n\
  \          \"lon\": -121.9885282740642\n        },\n        {\n          \"lat\"\
  : 37.377143239881136,\n          \"lon\": -121.98852648013175\n        },\n    \
  \    {\n          \"lat\": 37.37715036768331,\n          \"lon\": -121.98871484300386\n\
  \        },\n        {\n          \"lat\": 37.37717816610399,\n          \"lon\"\
  : -121.98871394603785\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    }\n  ]\n}"
tf_publisher:
  pose_topic: /dynamic_global_pose
  robot_description_file: /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/pacific.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:
    - 2.298450706603564
    - 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\": \"6917b074ee1bf968a13458ba\",\n  \"vin\": \"NRC_Leaf_Pacific\"\
  ,\n  \"description\": {\n    \"year\": 2018,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"gray\"\n  }\n}"
vehicle_id: NRC_Leaf_Pacific
vtc_gen_node:
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  enable_error_stop: true
  max_traj_start_dist_meters: 10
  min_step_size_meters: 0.1
  min_step_speed_mps: 0.05
  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
  vehicle_drive_state_topic: /vehicle_drive_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: false
      mc_electronics: false
      mc_fruit_vegetable: false
      mc_people: true
      mc_sport: false
      mc_vehicle: true
      model: MULTI_CLASS_BOX_ACCURATE
      object_tracking_enabled: false
      od_enabled: true
      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: false
      publish_tf: false
      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
zed_object_viz:
  annotation_thickness: 2
  annotation_topic: /zed2i/image_annotations
  colors:
    '0':
    - 0.361
    - 0.839
    - 0.663
    - 0.8
    '1':
    - 0.38
    - 0.796
    - 1.0
    - 0.8
    '2':
    - 0.38
    - 0.796
    - 1.0
    - 0.8
    '3':
    - 1.0
    - 0.0
    - 1.0
    - 0.8
    '4':
    - 1.0
    - 0.5
    - 0.0
    - 0.8
    '5':
    - 0.5
    - 0.0
    - 0.5
    - 0.8
    '6':
    - 0.0
    - 0.5
    - 1.0
    - 0.8
    default:
    - 0.5
    - 0.5
    - 0.5
    - 0.8
  font_size: 12
  input_topic: /zed2i/zed_node/obj_det/objects
  line_width: 0.05
  marker_frame: zed2i_left_camera_optical_frame
  marker_lifetime: 0.5
  marker_topic: /zed2i/object_markers
  sphere_radius: 0.1
  text_background:
  - 0.0
  - 0.0
  - 0.0
  - 0.5
  text_color:
  - 1.0
  - 1.0
  - 1.0
  - 1.0
  text_size: 0.3
