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settings.json
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settings.json
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{
"SettingsVersion": 1.2,
"SimMode": "Multirotor",
"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AutoCreate": true,
"Sensors": {
"lidar_front":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": 0, "Yaw" : 0,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"lidar_right":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": 0, "Yaw" : 90,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"lidar_back":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": 0, "Yaw" : 180,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"lidar_left":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": 0, "Yaw" : 270,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"lidar_down":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": -90, "Yaw" : 0,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
},
"lidar_up":{
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 1,
"RotationsPerSecond": 0,
"PointsPerSecond": 60,
"X": 0, "Y": 0, "Z": 0,
"Roll": 0, "Pitch": 90, "Yaw" : 0,
"VerticalFOVUpper": 0,
"VerticalFOVLower": 0,
"HorizontalFOVStart": 0,
"HorizontalFOVEnd": 0,
"Range" : 21.4,
"DrawDebugPoints": true,
"DataFrame": "SensorLocalFrame"
}
}
}
}
}