From 64af999a31649b6fa6c1b541d006e00843d2060e Mon Sep 17 00:00:00 2001
From: Luis Camero
+
+```YAML
+serial_number: j100-0000
+version: 0
+system:
+ hosts:
+ self: cpr-j100-0000
+ platform:
+ cpr-j100-0000: 192.168.131.1
+ onboard: {}
+ remote: {}
+ ros2:
+ username: administrator
+ namespace: j100_0000
+ domain_id: 0
+ rmw_implementation: rmw_fastrtps_cpp
+platform:
+ controller: ps4
+ decorations:
+ front_bumper:
+ enabled: true
+ model: default
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 0.0]
+ extension: 0.0
+ rear_bumper:
+ enabled: true
+ model: default
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 0.0]
+ extension: 0.0
+ extras:
+ urdf: null
+ control: null
+accessories:
+ box: []
+ cylinder:
+ - name: cylinder
+ parent: mid_mount
+ xyz: [0.0, 0.0, 0.05]
+ rpy: [0.0, 0.0, 0.0]
+ radius: 0.05
+ length: 0.1
+ link: []
+ mesh: []
+ sphere: []
+mounts:
+ bracket:
+ - parent: front_mount
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 0.0]
+ model: horizontal
+ - parent: rear_mount
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 0.0]
+ model: horizontal
+ fath_pivot: []
+ riser: []
+sensors:
+ camera: []
+ gps: []
+ imu: []
+ lidar2d:
+ - model: hokuyo_ust10
+ urdf_enabled: true
+ launch_enabled: true
+ parent: bracket_0_mount
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 0.0]
+ ros_parameters:
+ laser_frame_id: lidar2d_0_laser
+ ip_address: 192.168.131.20
+ ip_port: 10940
+ angle_min: -3.141592653589793
+ angle_max: 3.141592653589793
+ - model: hokuyo_ust10
+ urdf_enabled: true
+ launch_enabled: true
+ parent: bracket_1_mount
+ xyz: [0.0, 0.0, 0.0]
+ rpy: [0.0, 0.0, 3.1415]
+ ros_parameters:
+ laser_frame_id: lidar2d_1_laser
+ ip_address: 192.168.131.21
+ ip_port: 10940
+ angle_min: -3.141592653589793
+ angle_max: 3.141592653589793
+ lidar3d:
+ - model: velodyne_lidar
+ urdf_enabled: true
+ launch_enabled: true
+ parent: mid_mount
+ xyz: [0.0, 0.0, 0.1]
+ rpy: [0.0, 0.0, 0.0]
+ ros_parameters:
+ frame_id: lidar3d_0_laser
+ device_ip: 192.168.131.25
+ port: 2368
+ model: VLP16
+ fixed_frame: lidar3d_0_laser
+ target_frame: lidar3d_0_laser
+```
+
+
+```yaml
+system:
+ hosts:
+ self: "cpr-j100-0000"
+ platform:
+ cpr-j100-0000: "192.168.131.1"
+ onboard: {}
+ remote: {}
+ ros2:
+ username: "administrator"
+ namespace: "j100_0000"
+ domain_id: 0
+ rmw_implementation: "rmw_fastrtps_cpp"
+```
+
+Sample J100 YAML
+Sample J100 System Section
+
+ +```yaml +platform: + controller: ps4 + decorations: + front_bumper: + enabled: true + model: wibotic + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + extension: 0.0 + rear_bumper: + enabled: true + model: default + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + extension: 0.0 + extras: + urdf: null + control: null +``` +
++ +```yaml +accessories: + box: [] + cylinder: + - name: cylinder + parent: mid_mount + xyz: [0.0, 0.0, 0.05] + rpy: [0.0, 0.0, 0.0] + radius: 0.05 + length: 0.1 + link: [] + mesh: [] + sphere: [] +``` +
++ +```yaml +mounts: + bracket: + - parent: front_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + model: horizontal + - parent: rear_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + model: horizontal + fath_pivot: [] + riser: [] +``` +
++ +```yaml +sensors: + camera: [] + gps: [] + imu: [] + lidar2d: + - model: hokuyo_ust10 + urdf_enabled: true + launch_enabled: true + parent: bracket_0_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + laser_frame_id: lidar2d_0_laser + ip_address: 192.168.131.20 + ip_port: 10940 + angle_min: -3.141592653589793 + angle_max: 3.141592653589793 + - model: hokuyo_ust10 + urdf_enabled: true + launch_enabled: true + parent: bracket_1_mount + xyz: [0.0, 0.0, 0.0] + rpy: [0.0, 0.0, 3.1415] + ros_parameters: + laser_frame_id: lidar2d_1_laser + ip_address: 192.168.131.21 + ip_port: 10940 + angle_min: -3.141592653589793 + angle_max: 3.141592653589793 + lidar3d: + - model: velodyne_lidar + urdf_enabled: true + launch_enabled: true + parent: mid_mount + xyz: [0.0, 0.0, 0.1] + rpy: [0.0, 0.0, 0.0] + ros_parameters: + frame_id: lidar3d_0_laser + device_ip: 192.168.131.25 + port: 2368 + model: VLP16 + fixed_frame: lidar3d_0_laser + target_frame: lidar3d_0_laser +``` +
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