agent_name: NRC_Leaf_Hotel
apriltag_detection_node:
  camera_frame: zed2i_left_camera_optical_frame
  camera_info_topic: /zed2i/zed_node/left/camera_info
  image_topic: /zed2i/zed_node/left/image_rect_color/compressed
  tag_family: tag25h9
  tag_size: 0.391
apriltag_map_publisher:
  map_name: natcsv
  site_data_path: /var/tmp/site_data.json
  tag_size: 0.165
ar_mapping_node:
  convergence_count: 5
  convergence_threshold: 0.1
  max_detection_range: 8.0
  min_observations: 10
  outlier_threshold_sigma: 3.0
  output_json_path: /var/tmp/ar_tag_map_estimated.json
  projection_lat_0: 37.39718695686429
  projection_lon_0: -122.04398000000006
  tag_detections_topic: /tag_detections
  tag_map:
    '26':
      observation_count: 6
      std_dev: 0.02091238719019935
      theta: -1.3375482325389654
      x: 4849.611933174798
      y: -2211.553442559475
    '27':
      observation_count: 6
      std_dev: 0.034129340642960915
      theta: -1.9741970376777345
      x: 4849.802288438352
      y: -2215.7922334322766
  vehicle_pose_topic: /dynamic_global_pose
av_state_manager:
  log_level: info
  simulation_mode: false
build_yaml: "Repository: BuildDocker_fvla_base_p_master\n  Branch: HEAD\n  Commit:\
  \ 608632b6bf54c0ee8df60563078c8114a76c492d\n  Updated: 2026-06-30 14:15:36 -0700\n\
  \  Build Date: Wed 01 Jul 2026 02:00:38 AM PDT\n  Build Information:\n    NRC:\n\
  \      - fvla_data_fetcher:\n          Branch: master\n          Commit: e8dd490b754e34f8a23bd9a490caac143e58e1db\n\
  \          Updated: 2026-02-27 06:04:04 -0800\n      - fvla_intersections:\n   \
  \       Branch: master\n          Commit: 70986956130a7d05cf47bf67646c0426269b6da7\n\
  \          Updated: 2026-04-28 10:38:08 -0700\n      - fvla_ml_perc:\n         \
  \ Branch: feature/lane_detection\n          Commit: bedb13a4ad481daa6671a0d6701a8c8bc5b4de68\n\
  \          Updated: 2026-06-18 11:53:33 -0700\n      - fvla-recorder:\n        \
  \  Branch: master\n          Commit: 6c6e01853a506db4828dac94f05307483cd0e3b3\n\
  \          Updated: 2026-06-12 16:44:19 -0700\n      - fvla_scripts:\n         \
  \ Branch: master\n          Commit: a7a42a3bdaec593da034c8684d85014929c4acae\n \
  \         Updated: 2026-06-18 10:30:00 -0700\n      - gps-denied-navigation:\n \
  \         Branch: master\n          Commit: 78303ea9df2c8d9bf62ff799c5d35d3a10cc70f4\n\
  \          Updated: 2026-06-30 21:29:45 -0700\n      - health-monitor:\n       \
  \   Branch: master\n          Commit: 5c15656ceebefeb08b922226fb69c2915c23cd37\n\
  \          Updated: 2026-06-22 10:27:49 -0700\n      - mqtt-telemetry:\n       \
  \   Branch: feature/set_cxx_standard_17\n          Commit: 3fe5e6f52288695e47eb1238a3f181736a84be7e\n\
  \          Updated: 2024-12-11 17:00:37 -0800\n      - nrc:\n          Branch: feature/FY25_SV_Dev\n\
  \          Commit: d55b60df2dd772222e4720764808e33dec48b3bc\n          Updated:\
  \ 2026-04-01 13:39:09 -0700\n      - nrc_algo:\n          Branch: feature/set_cxx_standard_17\n\
  \          Commit: f9a920a10a0a8eefd80253ae33ee7d641ea36491\n          Updated:\
  \ 2024-12-11 16:59:06 -0800\n      - nrc_apps:\n          Branch: feature/FY24_SV_Dev\n\
  \          Commit: cbae6ce443c041e6a9013b0e9e3683c28fca8776\n          Updated:\
  \ 2025-05-19 01:59:22 -0700\n      - nrc_av_ui:\n          Branch: feature/FY24_SV_Dev_AvAgent\n\
  \          Commit: f2788f028f90e948e9ac284a48036e9c4de42c13\n          Updated:\
  \ 2025-03-28 17:13:49 -0700\n      - nrc_cmake:\n          Branch: feature/default_cuda_compute_capability\n\
  \          Commit: 576c1016efee183e4bd32bbac47d12bd1547a52c\n          Updated:\
  \ 2025-03-06 22:57:47 +0000\n      - fmc_core:\n          Branch: feature/FY24_SV_Dev\n\
  \          Commit: abbd3401cc117e51dad92f322b5daf07c643008d\n          Updated:\
  \ 2024-11-25 09:35:43 -0800\n      - fmc_data_bootmap:\n          Branch: feature/FY24_SV_Dev\n\
  \          Commit: ec2820a0b66dd6f77d175aef3e90c1c392bfb96a\n          Updated:\
  \ 2024-03-13 15:39:04 -0700\n      - fmc_RoutingMap:\n          Branch: feature/FY24_SV_Dev\n\
  \          Commit: 504a702318d4c983e12ef5dce617fadbe838c546\n          Updated:\
  \ 2024-06-10 18:23:06 -0700\n      - maav_legacy:\n          Branch: feature/FY24_SV_Dev\n\
  \          Commit: 1ffee104f2ce470d172c9b026064d5905c1fc3bf\n          Updated:\
  \ 2025-04-09 21:39:52 -0700\n      - nrc_hw:\n          Branch: feature/FY26_FVLA_Dev\n\
  \          Commit: 06ea41df5db3de078d4006654ddb2b86d8bd015c\n          Updated:\
  \ 2026-06-23 10:02:10 -0700\n      - nrc_leaf:\n          Branch: feature/FY25_FVLA_Dev\n\
  \          Commit: 32114bff92a0aef288eec49b0d2de3523cd44cd4\n          Updated:\
  \ 2026-01-17 10:59:12 -0800\n      - nrc_msgs:\n          Branch: feature/FY25_SV_fvla_dev\n\
  \          Commit: 344fdc9e4e211a3dfd09d112a3cba14c18e7478c\n          Updated:\
  \ 2025-11-21 14:19:48 -0800\n      - nrc_ralp:\n          Branch: feature/fvla_dev_mpc\n\
  \          Commit: 84c156bd81fa58de62314ee6cd4032f5e1ccfd2f\n          Updated:\
  \ 2026-03-02 18:54:42 -0800\n      - nrc_sim:\n          Branch: feature/FY25_SV_Dev\n\
  \          Commit: 354e6491bb042376328b4469f99eef91a00f5b75\n          Updated:\
  \ 2026-04-01 16:40:58 -0700\n      - nrc_svcs:\n          Branch: feature/FY25_SV_Dev\n\
  \          Commit: 2f784a6d54d1750a1d36d46dc640697a40e5ef4d\n          Updated:\
  \ 2026-04-01 16:20:49 -0700\n      - nrc_wm2:\n          Branch: feature/FY25_FVLA_Dev\n\
  \          Commit: a707da00515cbd50b9b714de12cc5dc5b2662ce8\n          Updated:\
  \ 2026-01-16 15:41:04 -0800\n      - onboard-traj-generator:\n          Branch:\
  \ master\n          Commit: 09d3a5c5b85a43ca3534adc554e5eb695c4035dd\n         \
  \ Updated: 2026-05-01 15:38:49 -0700\n      - pose-estimator-cpp:\n          Branch:\
  \ master\n          Commit: bb6a6ab242081e863ea4d8f722be160971979bbc\n         \
  \ Updated: 2026-06-22 10:27:30 -0700\n      - ros_mqtt_parser:\n          Branch:\
  \ master\n          Commit: 202120069565b5063b71904be35e82c85bf42ec7\n         \
  \ Updated: 2026-04-24 14:31:23 -0700\n      - safety_shield:\n          Branch:\
  \ master\n          Commit: 1db4ed595867a0f2de75320dfdc2659a75c5a830\n         \
  \ Updated: 2026-06-09 12:02:31 -0700\n    External:\n      - dsrc_msgs:\n      \
  \    Branch: release-BSMP-final\n          Commit: 46e6d97b138db9d88eb295547f40c4cf1d59215a\n\
  \          Updated: 2018-10-12 14:41:28 -0700\n      - irg_cmake:\n          Branch:\
  \ catkin_build\n          Commit: a3018c184944486211acce37d9ff86e2289a0b39\n   \
  \       Updated: 2019-06-06 14:44:26 -0700\n      - libbsmp:\n          Branch:\
  \ master\n          Commit: 751c347520280981de80d1d108b7695ffaa5f809\n         \
  \ Updated: 2018-10-15 10:25:49 -0700\n      - Miro:\n          Branch: catkin_build\n\
  \          Commit: eabcf33df27cbbd56ffdb847fb938468c35a22e6\n          Updated:\
  \ 2020-03-16 13:49:52 -0700\n      - paho.mqtt.c:\n          Branch: HEAD\n    \
  \      Commit: 2150ba29d9df24ad1733c460eb099f292af84ee5\n          Updated: 2025-01-07\
  \ 13:24:37 +0000\n      - paho.mqtt.cpp:\n          Branch: HEAD\n          Commit:\
  \ c310578ee68d38cd53e79d7107fb41dc68dbafe0\n          Updated: 2024-07-09 20:15:04\
  \ -0400\n      - ros_numpy:\n          Branch: master\n          Commit: 74879737c8648f48adb507a5bdf4e51c0d194124\n\
  \          Updated: 2023-11-03 11:45:54 +0000\n      - rviz_animated_view_controller:\n\
  \          Branch: kinetic-devel\n          Commit: e95902ac288460335109d29bbf8ce36fd968e5fe\n\
  \          Updated: 2018-03-02 15:14:09 -0800\n      - soraCore:\n          Branch:\
  \ RTI_6.1_Compat\n          Commit: 822bf55846785aab2ada1dd59686832e7d80b50b\n \
  \         Updated: 2022-12-06 16:51:44 -0800\n      - swiftnav:\n          Branch:\
  \ feature/ubunutu_20_python3\n          Commit: 2f1fb83ec7f2cb6385bc12212ec4ec3d107e8701\n\
  \          Updated: 2021-08-12 14:39:43 +0200\n      - velodyne_source:\n      \
  \    Branch: feature/master_github_05172021\n          Commit: 34ec760484953885d3043b34762bac990f703a48\n\
  \          Updated: 2021-08-13 13:36:50 -0700\n      - view_controller_msgs:\n \
  \         Branch: hydro-devel\n          Commit: 058f78390c6b7108a90c304e18a625d921fb0953\n\
  \          Updated: 2018-09-05 11:49:03 +0900\n      - zed-ros-wrapper:\n      \
  \    Branch: feature/FVLA\n          Commit: caf70cba0e1613acb608ef2edc1691e13d9fdc83\n\
  \          Updated: 2024-10-14 11:53:15 -0700\n    Others:\n      - map_projections:\n\
  \          Branch: master\n          Commit: 71ee20a2a3312c2c5d4dd0a124fb771f71d1192f\n\
  \          Updated: 2025-05-07 16:36:28 -0700\nRepository: dDocker_fvla_vehiclepod_p_master\n\
  \  Branch: HEAD\n  Commit: b1286df0472d26000a33c32eaa9a2b3cf0b0ae67\n  Updated:\
  \ 2026-07-01 08:34:12 -0700\n  Build Date: Wed 01 Jul 2026 08:32:57 AM PDT\n"
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
dab_extraction_node:
  enable_debug: false
  hood_mask_threshold_px: 30
  morph_kernel_size: 3
dab_range_estimator_node:
  camera_height_bias_m: 0.46
  enable_debug: false
  max_boundary_points: 200
  max_range_m: 50.0
  min_range_m: 1.0
  tf_timeout_sec: 5.0
detection_node:
  camera_height_bias_m: 0.46
  confidence_threshold: 0.25
  detection_model_path: /root/projects/fvla-base/nrc_ws/src/fvla_ml_perc/weights/yolo11s.pt
  device: cuda
  enable_debug: false
  fps_cap: 15
  hood_filter_classes: ''
  hood_filter_enabled: true
  hood_filter_threshold_px: 30
  hood_mask_path: /root/projects/fvla-base/nrc_ws/src/fvla_ml_perc/data/hood_line.png
  input_size: 640
  model_path: /root/projects/fvla-base/nrc_ws/src/fvla_ml_perc/weights/yolopv2.pt
  model_type: auto
  tf_timeout_sec: 5.0
devname: /dev/ttyACM1
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
dynamicPose_debugLevel: 0
f9rRTCM_devname: /dev/ttyACM2
f9r_devname: /dev/gps/ublox/F9R
f9r_sfodo_latency_ms: 40
fvla_data_fetcher:
  agent_name: NRC_Leaf_Hotel
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_hotel_pass
  fvla_service_jwt_username: NRC_Leaf_Hotel
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Hotel
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
  - /diagnostics
  - /diagnostics/pose_estimator_cpp
  - /diagnostics_agg
  - /dispatch
  - /driver_input
  - /dynamic_global_pose
  - /dynamic_global_pose_swiftnav
  - /faults/critical
  - /gps_state
  - /gps_state_swiftnav
  - /gps_state_f9r
  - /dynamic_global_pose_f9r
  - /hm_drive_state
  - /obstacle/dab
  - /otg/free_dps
  - /otg/occupied_dps
  - /recorded_vehicle_trajectory
  - /rosout
  - /safety_shield/boundary/(.*)
  - /safety_shield/collision/(.*)/points
  - /safety_shield/debug/speed_plan/dist
  - /safety_shield/debug/speed_plan/input_speed
  - /safety_shield/debug/speed_plan/output_speed
  - /safety_shield/trajectory/input
  - /safety_shield/output_path_viz
  - /safety_shield/dp_points
  - /ss_mode
  - /tag_detections
  - /tag_estimated_locations
  - /tag_map
  - /tag_map_locations
  - /tf
  - /tf_static
  - /vehicle_destination_state
  - /vehicle_drive_state
  - /vehicle_health_state
  - /vehicle_trajectory_control
  - /zed2i/zed_node/depth/camera_info/zed2i/zed_node/left/camera_info
  - /zed2i/zed_node/left/image_rect_color/compressed
  - /zed2i/zed_node/left/camera_info
  - /zed2i/zed_node/left_raw/camera_info
  - /zed2i/zed_node/obj_det/objects
  - /zed2i/zed_node/rgb/camera_info
  - /zed2i/zed_node/rgb_raw/camera_info
  - /zed2i/zed_node/right/camera_info
  - /zed2i/zed_node/imu/data
  - /zed2i/zed_node/imu/data_raw
  - /zed2i/zed_node/imu/mag
  - (.*)diagnostics(.*)
  - (.*)occupancy(.*)
  - (.*)objects(.*)
  - /route/(.*)
  - /piksi/(.*)
  vehicle_id: ''
gpsDiagTopic_f9r: GpsDiag_f9r
gps_stateTopic_f9r: /gps_state_f9r
health_diag_agg:
  log_level: error
  monitored_hardware_ids:
  - CPU
  - pose_estimator
  - latency_monitor
  - detection_node
  - safety_shield
  topic_monitors_config: /root/projects/fvla-vehiclepod/src/configs/health-monitor/topic_monitors.json
hm_config_file: /root/projects/fvla-base/nrc_ws/src/health-monitor/HealthCheck/yaml/Vehicle_HealthCheck.yaml
imuTopic_f9r: Imu_f9r
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
navSatFixTopic_f9r: NavSatFix_f9r
objects_compositor_node:
  log_level: info
  objects_message_age_threshold: 0.5
  objects_next_pub_hz: 5
  publish_objects_current: true
  publish_objects_next: true
  route_roi_current_topic: /otg/route_roi_current
  route_rois_next_topic: /otg/route_rois_next
path_summary:
- rooftop_demo_start
- rooftop_demo_segment_1
- rooftop_demo_junction_1
- rooftop_demo_segment_2
- rooftop_demo_junction_2
- rooftop_demo_segment_3a
- rooftop_demo_end_front
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
  init_speed_threshold: 0.2
  max_dead_reckon: 10.0
  max_recovery_time: 180.0
  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
publishNavPvt: false
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 0.016406094968746697 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:
  log_level: info
  map_current_objects: true
  map_next_objects: true
  mqtt_host: mqtts.fvla.natcsv.com
  mqtt_password: nrc_leaf_hotel_pass
  mqtt_port: 8883
  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_24p
    ros_topic: /occupancy/multi_roi_route1_roi_24p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_24p
    ros_topic: /objects/multi_roi_route1_roi_24p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/parking_roi_1
    ros_topic: /occupancy/parking_roi_1
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/parking_roi_1
    ros_topic: /objects/parking_roi_1
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/parking_lane
    ros_topic: /occupancy/parking_lane
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/parking_lane
    ros_topic: /objects/parking_lane
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_30p
    ros_topic: /occupancy/multi_roi_route1_roi_30p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_30p
    ros_topic: /objects/multi_roi_route1_roi_30p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_29p
    ros_topic: /occupancy/multi_roi_route1_roi_29p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_29p
    ros_topic: /objects/multi_roi_route1_roi_29p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_33p
    ros_topic: /occupancy/multi_roi_route1_roi_33p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_33p
    ros_topic: /objects/multi_roi_route1_roi_33p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_23p
    ros_topic: /occupancy/multi_roi_route1_roi_23p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_23p
    ros_topic: /objects/multi_roi_route1_roi_23p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_28p
    ros_topic: /occupancy/multi_roi_route1_roi_28p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_28p
    ros_topic: /objects/multi_roi_route1_roi_28p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_26p
    ros_topic: /occupancy/multi_roi_route1_roi_26p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_26p
    ros_topic: /objects/multi_roi_route1_roi_26p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/demo_parking_entrance_p
    ros_topic: /occupancy/demo_parking_entrance_p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/demo_parking_entrance_p
    ros_topic: /objects/demo_parking_entrance_p
    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_27p
    ros_topic: /occupancy/multi_roi_route1_roi_27p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_27p
    ros_topic: /objects/multi_roi_route1_roi_27p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/demo_parking_exit_p
    ros_topic: /occupancy/demo_parking_exit_p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/demo_parking_exit_p
    ros_topic: /objects/demo_parking_exit_p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.HeaderBool
    mqtt_topic: dt/occupancy/multi_roi_route1_roi_22p
    ros_topic: /occupancy/multi_roi_route1_roi_22p
    useJsonFormat: true
    use_compression: false
  - message_type: nrc_msgs.msg.TrackedObjectSet
    mqtt_topic: dt/objects/multi_roi_route1_roi_22p
    ros_topic: /objects/multi_roi_route1_roi_22p
    useJsonFormat: true
    use_compression: false
  mqtt_user: NRC_Leaf_Hotel
  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
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_topic: dt/agents/heartbeat
    ros_topic: /heartbeat
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/vehicle_health_state
    ros_topic: /vehicle_health_state
    useJsonFormat: false
    use_compression: false
rosdistro: 'noetic

  '
roslaunch:
  uris:
    host_hotel_mist_halibut_ts_net__33441: http://hotel.mist-halibut.ts.net:33441/
    host_hotel_mist_halibut_ts_net__35757: http://hotel.mist-halibut.ts.net:35757/
    host_hotel_mist_halibut_ts_net__36539: http://hotel.mist-halibut.ts.net:36539/
    host_hotel_mist_halibut_ts_net__36631: http://hotel.mist-halibut.ts.net:36631/
    host_hotel_mist_halibut_ts_net__36889: http://hotel.mist-halibut.ts.net:36889/
    host_hotel_mist_halibut_ts_net__37183: http://hotel.mist-halibut.ts.net:37183/
    host_hotel_mist_halibut_ts_net__38383: http://hotel.mist-halibut.ts.net:38383/
    host_hotel_mist_halibut_ts_net__39033: http://hotel.mist-halibut.ts.net:39033/
    host_hotel_mist_halibut_ts_net__39511: http://hotel.mist-halibut.ts.net:39511/
    host_hotel_mist_halibut_ts_net__40087: http://hotel.mist-halibut.ts.net:40087/
    host_hotel_mist_halibut_ts_net__41217: http://hotel.mist-halibut.ts.net:41217/
    host_hotel_mist_halibut_ts_net__41405: http://hotel.mist-halibut.ts.net:41405/
    host_hotel_mist_halibut_ts_net__41775: http://hotel.mist-halibut.ts.net:41775/
    host_hotel_mist_halibut_ts_net__42031: http://hotel.mist-halibut.ts.net:42031/
    host_hotel_mist_halibut_ts_net__42861: http://hotel.mist-halibut.ts.net:42861/
    host_hotel_mist_halibut_ts_net__43569: http://hotel.mist-halibut.ts.net:43569/
    host_hotel_mist_halibut_ts_net__43967: http://hotel.mist-halibut.ts.net:43967/
    host_hotel_mist_halibut_ts_net__44365: http://hotel.mist-halibut.ts.net:44365/
    host_hotel_mist_halibut_ts_net__45039: http://hotel.mist-halibut.ts.net:45039/
    host_hotel_mist_halibut_ts_net__45465: http://hotel.mist-halibut.ts.net:45465/
rosversion: '1.17.0

  '
route_data_file: ''
route_data_json: ''
run_id: 36030386-758e-11f1-8583-3c6d6689259e
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.dp:
        enabled: false
        width_scale: 2.5
      Approach.mono_dab:
        enabled: false
      Approach.mono_person:
        enabled: true
        width_scale: 3.0
      Approach.mono_vehicle:
        enabled: true
        width_scale: 2.0
      Approach.rsu_person:
        enabled: true
        width_scale: 3.0
      Approach.rsu_vehicle:
        enabled: true
        width_scale: 2.0
      Approach.zed_dab:
        enabled: false
      Approach.zed_person:
        enabled: false
      Approach.zed_vehicle:
        enabled: false
      RSU.dp:
        enabled: true
      RSU.mono_dab:
        enabled: false
      RSU.mono_person:
        enabled: true
      RSU.mono_vehicle:
        enabled: true
        width_scale: 1.0
      RSU.rsu_person:
        enabled: true
        width_scale: 5
      RSU.rsu_vehicle:
        enabled: true
        width_scale: 2.5
      RSU.zed_dab:
        enabled: false
      RSU.zed_person:
        enabled: false
      RSU.zed_vehicle:
        enabled: false
      Scooch.dp:
        enabled: true
        width_scale: 2.0
      Scooch.mono_dab:
        enabled: false
        width_scale: 0.54
      Scooch.mono_person:
        enabled: true
        width_scale: 2.5
      Scooch.mono_vehicle:
        enabled: true
        width_scale: 1.0
      Scooch.rsu_person:
        enabled: false
        width_scale: 2.5
      Scooch.rsu_vehicle:
        enabled: false
        width_scale: 1.0
      Scooch.zed_dab:
        enabled: false
      Scooch.zed_person:
        enabled: false
      Scooch.zed_vehicle:
        enabled: false
    types:
      dp:
        length_scale: 1.0
        width_scale: 3.0
      mono_dab:
        width_scale: 1.3
      mono_person:
        width_scale: 2.0
      mono_vehicle:
        width_scale: 1.5
      rsu_person:
        width_scale: 3.0
      rsu_vehicle:
        width_scale: 1.5
      zed_dab:
        width_scale: 1.3
      zed_person:
        width_scale: 2.0
      zed_vehicle:
        width_scale: 1.5
    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:
        dp:
          boundary:
          - 1.0
          - 0.0
          - 1.0
          - 1.0
          boundary_collision:
          - 1.0
          - 0.0
          - 1.0
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 1.0
          - 0.0
          - 1.0
          - 0.3
        mono_dab:
          boundary:
          - 0.0
          - 0.8
          - 0.8
          - 1.0
          boundary_collision:
          - 0.0
          - 0.8
          - 0.8
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 0.0
          - 0.8
          - 0.8
          - 0.3
        mono_person:
          boundary:
          - 0.2
          - 0.8
          - 0.2
          - 1.0
          boundary_collision:
          - 0.2
          - 0.8
          - 0.2
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 0.2
          - 0.8
          - 0.2
          - 0.3
        mono_vehicle:
          boundary:
          - 0.8
          - 0.2
          - 0.8
          - 1.0
          boundary_collision:
          - 0.8
          - 0.2
          - 0.8
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 0.8
          - 0.2
          - 0.8
          - 0.3
        rsu_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
        rsu_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
        zed_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
        zed_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
        zed_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
      rsu_person: 0.3
      vehicle: 0.5
    min_x:
      person: 0.0
      rsu_vehicle: 4.0
      vehicle: 4.5
  rsu_staleness:
    deceleration: 1.0
    enabled: true
    threshold_sec: 1.0
    topic: /objects_next
  safety_stop:
    active_value: ad_active
    deceleration: 4.0
    enabled: true
    topic: /vehicle_drive_state
    velocity_topic: /controller_state
  speed_profile:
    defaults:
      deceleration: 1.0
      stopping_distance: 2.0
    overrides:
      Approach.dp:
        stopping_distance: 3.0
      Approach.mono_person:
        stopping_distance: 2.0
      Approach.mono_vehicle:
        stopping_distance: 2.0
      Approach.rsu_person:
        stopping_distance: 2.0
      Approach.rsu_vehicle:
        stopping_distance: 2.0
      Approach.zed_dab:
        stopping_distance: 1.5
      Approach.zed_person:
        stopping_distance: 2.0
      Approach.zed_vehicle:
        stopping_distance: 2.0
      RSU.mono_person:
        stopping_distance: 5.0
      RSU.mono_vehicle:
        stopping_distance: 5.0
      RSU.rsu_person:
        stopping_distance: 10.0
      RSU.rsu_vehicle:
        stopping_distance: 10.0
      RSU.zed_person:
        stopping_distance: 5.0
      RSU.zed_vehicle:
        stopping_distance: 5.0
      Scooch:
        deceleration: 2.0
      Scooch.dp:
        stopping_distance: 0.0
      Scooch.mono_dab:
        stopping_distance: 1.0
      Scooch.mono_person:
        stopping_distance: 5.0
      Scooch.mono_vehicle:
        stopping_distance: 5.0
      Scooch.rsu_person:
        stopping_distance: 2.0
      Scooch.rsu_vehicle:
        stopping_distance: 2.0
      Scooch.zed_dab:
        stopping_distance: 1.0
      Scooch.zed_person:
        stopping_distance: 2.0
      Scooch.zed_vehicle:
        stopping_distance: 2.0
    types:
      dp:
        stopping_distance: 1.0
      mono_dab:
        stopping_distance: 1.0
      mono_person:
        stopping_distance: 2.0
      mono_vehicle:
        stopping_distance: 3.0
      rsu_person:
        stopping_distance: 2.0
      rsu_vehicle:
        stopping_distance: 3.0
      zed_dab:
        stopping_distance: 1.0
      zed_person:
        stopping_distance: 2.0
      zed_vehicle:
        stopping_distance: 3.0
  speed_smoother:
    accel_filter_window: 5
    controller_dead_zone_max: 0.6
    controller_dead_zone_min: 0.05
    enabled: true
    max_acceleration: 1.0
    max_deceleration: 1.25
    speed_limit: 7.5
  tf_staleness: 0
  topics:
    boundary: /obstacle/dab
    dp_stop_points: /otg/occupied_dps
    mono_boundary: /drivable_area_boundary_mono_points
    mono_object_detection: /objects_mono
    object_detection: /zed2i/zed_node/obj_det/objects
    rsu_objects: /objects_next
    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
  wrap_around_check: true
setSystemTimeFromGPSReceiver: false
simulation_mode: false
siteFrame:
  originLat: 37.39718695686429
  originLon: -122.04398000000006
site_data_file: /var/tmp/site_data.json
site_data_json: "{\n  \"_id\": \"69024cb6849867189cce87b4\",\n  \"id\": \"natcsv\"\
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  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_30p\",\n      \"search_type\"\
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  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_33p\",\n      \"search_type\": \"all\",\n  \
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  \n    },\n    {\n      \"id\": \"parking_lane\",\n      \"search_type\": \"all\"\
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  : 37.377253881198584,\n          \"lon\": -121.98926874442668\n        },\n    \
  \    {\n          \"lat\": 37.37725370879532,\n          \"lon\": -121.98936556181647\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    }\n  ],\n  \"\
  tags\": {\n    \"26\": {\n      \"yaw\": -1.1258894092249383,\n      \"lat\": 37.37724729078897,\n\
  \      \"lon\": -121.9892509028965\n    },\n    \"27\": {\n      \"yaw\": -2.220981074114245,\n\
  \      \"lat\": 37.37720908925595,\n      \"lon\": -121.98924703771016\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
twistTopic_f9r: Twist_f9r
ufld_lane_detection_node:
  cam_x_offset: 0.0
  cam_y_offset: 0.0
  camera_height_bias_m: 0.46
  device: cuda
  enable_debug: false
  fps_cap: 10
  max_range_m: 80.0
  model_path: /root/projects/fvla-base/nrc_ws/src/fvla_ml_perc/weights/culane_res34.pth
  tf_timeout_sec: 5.0
  use_tta: false
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
  imu_mount_angles:
    description: IMU to Vehicle Frame Alignment (Yaw, Pitch, Roll) in degrees
    offset:
    - 3.64
    - -10.11
    - -0.04
  imu_to_antenna:
    description: IMU to Antenna
    offset:
    - -0.5
    - 0.0
    - 0.4
  imu_to_crp:
    description: IMU to configurable reference point (CRP) = VSP
    offset:
    - -1.4
    - 0.0
    - -1.37
  imu_to_vsp:
    description: IMU to VSP (the center of the vehicle's rear axles)
    offset:
    - -1.4
    - 0.0
    - -1.37
  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:
    - 2.297627426154595
    - 0.06
    - 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\": \"68bb4a8b75833b9f9019c173\",\n  \"vin\": \"NRC_Leaf_Hotel\"\
  ,\n  \"description\": {\n    \"year\": 2019.0,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"white\"\n  }\n}"
vehicle_id: NRC_Leaf_Hotel
vtc_gen_node:
  all_dps_topic: /otg/next_decision_point
  arrived_ap_topic: /otg/arrived_assignment_point
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  enable_error_stop: true
  free_dps_topic: /otg/free_dps
  max_traj_start_dist_meters: 10
  min_step_size_meters: 0.1
  min_step_speed_mps: 0.05
  next_dest_topic: /destination
  next_dp_topic: /otg/rolling_dps
  occupied_dps_topic: /otg/occupied_dps
  publish_dp_viz_markers: true
  reached_dp_dist_tol_meters: 2.0
  reached_goal_dist_tol_meters: 0.7
  roi_latency_tol_secs: 5.0
  route_roi_current_topic: /otg/route_roi_current
  route_rois_next_topic: /otg/route_rois_next
  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: NONE
      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: false
      prediction_timeout: 0.5
    point_cloud_freq: 0.1
    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: 50.0
      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
