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[
{
"type": "Transform",
"name": "base_link",
"transform": {
"x": -0.015,
"y": 0.369,
"z": -1.37,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "CAN-Bus",
"name": "CAN Bus",
"params": {
"Frequency": 10,
"Topic": "/lgsvl/state_report"
},
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "GPS Device",
"name": "GPS",
"params": {
"Frequency": 12.5,
"Topic": "/gnss/fix",
"Frame": "gnss",
"IgnoreMapOrigin": false
},
"parent": "base_link",
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "GPS Odometry",
"name": "GPS Odometry",
"params": {
"Frequency": 30.0,
"Topic": "/lgsvl/gnss_odom",
"Frame": "odom",
"ChildFrame": "base_link",
"IgnoreMapOrigin": true
},
"parent": "base_link",
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "IMU",
"name": "IMU",
"params": {
"Topic": "/imu/imu_raw",
"Frame": "imu"
},
"parent": "base_link",
"transform": {
"x": 0,
"y": 0,
"z": 0,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Lidar",
"name": "LidarFront",
"params": {
"LaserCount": 16,
"MinDistance": 2.0,
"MaxDistance": 100,
"RotationFrequency": 10,
"MeasurementsPerRotation": 360,
"FieldOfView": 20,
"CenterAngle": 0,
"Compensated": true,
"PointColor": "#ff000000",
"Topic": "/lidar_front/points_raw",
"Frame": "lidar_front"
},
"parent": "base_link",
"transform": {
"x": 0.022,
"y": 1.49,
"z": 1.498,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Lidar",
"name": "LidarRear",
"params": {
"LaserCount": 16,
"MinDistance": 2.0,
"MaxDistance": 100,
"RotationFrequency": 10,
"MeasurementsPerRotation": 360,
"FieldOfView": 20,
"CenterAngle": 0,
"Compensated": true,
"PointColor": "#ff000000",
"Topic": "/lidar_rear/points_raw",
"Frame": "lidar_rear"
},
"parent": "base_link",
"transform": {
"x": 0.022,
"y": 1.49,
"z": 0.308,
"pitch": 0,
"yaw": 0,
"roll": 0
}
},
{
"type": "Vehicle Control",
"name": "Autoware Car Control",
"params": {
"Topic": "/lgsvl/vehicle_control_cmd"
}
},
{
"type": "Vehicle State",
"name": "Autoware Auto Vehicle State",
"params": {
"Topic": "/lgsvl/vehicle_state_cmd"
}
},
{
"type": "Vehicle Odometry",
"name": "Vehicle Odometry Sensor",
"params": {
"Topic": "/lgsvl/vehicle_odom"
}
},
{
"type": "Keyboard Control",
"name": "Keyboard Car Control"
},
{
"type": "Clock",
"name": "Simulation Clock",
"params": {
"Topic": "/lgsvl/clock"
}
}
]
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