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AI_RDKS100P_Robot
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AI_RDKS100P_Rob...
/
world2
/
config
/
config.yaml

config.yaml 2.9 KB
永久連結 文件歷史 原始文件

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  1. /**:
    2. 

  2.   ros__parameters:
    3. 

  3.     publish_snapshot_topic: "/world/snapshot"
    4. 

  4.     snapshot_rate: 1.0
    5. 

  5.     snapshot_mode: "minimal"
    6. 

  6.     subscriptions:
    7. 

  7.       - '{"topic":"/perception/animal_detection/result","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"animal","ttl":60.0,"mapping":{"entity_id":"animal_id","state":{"position":"position","species":"species","behavior":"behavior","health_status":"health_status"},"metadata":{"source":"detector","confidence":"confidence","timestamp":"timestamp"}}}'
    8. 

  8.       - '{"topic":"/perception/obstacle/result","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"obstacle","ttl":30.0,"mapping":{"entity_id":"obstacle_id","state":{"position":"position","dimensions":"dimensions","classification":"classification","velocity":"velocity"},"metadata":{"source":"lidar","confidence":"confidence"}}}'
    9. 

  9.       - '{"topic":"/sensors/gas/reading","msg_type":"std_msgs/msg/String","update_type":"environment","mapping":{"state":{"ch4":"methane","co2":"carbon_dioxide","h2s":"hydrogen_sulfide","o2":"oxygen","temperature":"temp","humidity":"humidity"}}}'
    10. 

  10.       - '{"topic":"/sensors/weather/data","msg_type":"std_msgs/msg/String","update_type":"environment","mapping":{"state":{"weather":"condition","temperature":"temperature","wind_speed":"wind_speed","rain_intensity":"rain_intensity","light_level":"illuminance"}}}'
    11. 

  11.       - '{"topic":"/actuator/status","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"actuator","ttl":10.0,"mapping":{"entity_id":"device_id","state":{"status":"status","available":"available","position":"position","force":"force_feedback"},"metadata":{"source":"actuator_controller","type":"device_type"}}}'
    12. 

  12.       - '{"topic":"/perception/person/detection","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"person","ttl":30.0,"mapping":{"entity_id":"person_id","state":{"position":"position","action":"action","orientation":"orientation"},"metadata":{"source":"vision","confidence":"confidence","tags":"tags"}}}'
    13. 

  13.       - '{"topic":"/robot/position","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"robot","ttl":5.0,"mapping":{"entity_id":"entity_id","state":{"name":"name","type":"type","position":"position","battery":"battery","status":"status"},"metadata":{"source":"simulator","timestamp":"timestamp"}}}'
    14. 

  14.       - '{"topic":"/map/poi","msg_type":"std_msgs/msg/String","update_type":"entity","entity_type":"poi","ttl":null,"mapping":{"entity_id":"entity_id","state":{"name":"name","type":"poi_type","index":"index","position":"position","status":"status","is_current_location":"is_current_location","properties":"properties"},"metadata":{"source":"simulator","timestamp":"timestamp"}}}'
    15. 

  15.       - '{"topic":"/robot/status","msg_type":"std_msgs/msg/String","update_type":"system","mapping":{"state":{"battery":"battery_level","mode":"operating_mode","current_task":"current_task","error_code":"error_code","timestamp":"timestamp"}}}'
    16.