NissanLeafSensor.json

[
  {
      "type": "CAN-Bus",
      "name": "CAN Bus",
      "params": {
        "Frequency": 10,
        "Topic": "/canbus"
      },
      "transform": {
        "x": 0,
        "y": 0,
        "z": 0,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
  },
   
    
    {
      "type": "GPS Odometry",
      "name": "Duro_GPS",
      "params": {
        "Frequency": 10,
        "Topic": "/gps/duro/odom",
        "Frame": "map",
        "IgnoreMapOrigin": true
      },
      "transform": {
        "x": 0.0,
        "y": 1.18,
        "z": -0.196,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "GPS Odometry",
      "name": "Novatel_GPS",
      "params": {
        "Frequency": 20,
        "Topic": "/gps/nova/odom",
        "Frame": "map",
        "IgnoreMapOrigin": true
      },
      "transform": {
        "x": 0.408,
        "y": 1.362,
        "z": 1.33,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },

    {
      "type": "IMU",
      "name": "Duro_IMU",
      "params": {
        "Topic": "/imu_raw",
        "Frame": "imu"
      },
      "transform": {
        "x": 0,
        "y": 0.547,
        "z": 0,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "Lidar",
      "name": "Velodyne_Right",
      "params": {
        "LaserCount": 16,
        "MinDistance": 0.5,
        "MaxDistance": 200,
        "RotationFrequency": 20,
        "MeasurementsPerRotation": 360,
        "FieldOfView": 41.33,
        "CenterAngle": 10,
        "Compensated": true,
        "PointColor": "#ff000000",
        "Topic": "/velodyne_right/velodyne_points",
        "Frame": "velodyne_right"
      },
      "transform": {
        "x": 0.703,
        "y": 1.166,
        "z": 1.749,
        "pitch": 0,
        "yaw": 0,
        "roll": -60
      }
    },
    {
      "type": "Lidar",
      "name": "Velodyne_Left",
      "params": {
        "LaserCount": 16,
        "MinDistance": 0.5,
        "MaxDistance": 200,
        "RotationFrequency": 20,
        "MeasurementsPerRotation": 360,
        "FieldOfView": 41.33,
        "CenterAngle": 10,
        "Compensated": true,
        "PointColor": "#ff000000",
        "Topic": "/velodyne_left/velodyne_points",
        "Frame": "velodyne_left"
      },
      "transform": {
        "x": -0.703,
        "y": 1.166,
        "z": 1.749,
        "pitch": 0,
        "yaw": 0,
        "roll": 60
      }
    },
    {
      "type": "Lidar",
      "name": "Ouster_Right",
      "params": {
        "LaserCount": 64,
        "MinDistance": 0.5,
        "MaxDistance": 120,
        "RotationFrequency": 20,
        "MeasurementsPerRotation": 360,
        "FieldOfView": 45,
        "CenterAngle": 10,
        "Compensated": true,
        "PointColor": "#0000ff",
        "Topic": "/right_os1/os1_cloud_node/points",
        "Frame": "right_os1/os1_sensor"
      },
      "transform": {
        "x": 0.58,
        "y": 1.278,
        "z": 1.769,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "Lidar",
      "name": "Ouster_Left",
      "params": {
        "LaserCount": 64,
        "MinDistance": 0.5,
        "MaxDistance": 120,
        "RotationFrequency": 20,
        "MeasurementsPerRotation": 360,
        "FieldOfView": 45,
        "CenterAngle": 10,
        "Compensated": true,
        "PointColor": "#0000ff",
        "Topic": "/left_os1/os1_cloud_node/points",
        "Frame": "left_os1/os1_sensor"
      },
      "transform": {
        "x": -0.58,
        "y": 1.278,
        "z": 1.769,
        "pitch": 0,
        "yaw": 180,
        "roll": 0
      }
    },
    {
      "type": "Lidar",
      "name": "Sick_LMS111",
      "params": {
        "LaserCount": 1,
        "MinDistance": 0.01,
        "MaxDistance": 25,
        "RotationFrequency": 25,
        "MeasurementsPerRotation": 540,
        "FieldOfView": 1,
        "CenterAngle": 0,
        "Compensated": true,
        "PointColor": "#00ff00",
        "Topic": "/cloud",
        "Frame": "laser"
      },
      "transform": {
        "x": 0.351,
        "y": 0.108,
        "z": 3.707,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "Color Camera",
      "name": "ZED_1",
      "params": {
        "Width": 672,
        "Height": 376,
        "Frequency": 20,
        "JpegQuality": 75,
        "FieldOfView": 90,
        "MinDistance": 0.3,
        "MaxDistance": 200,
        "Topic": "/zed_node/left/image_rect_color/compressed",
        "Frame": "zed"
      },
      "transform": {
        "x": 0.0,
        "y": 1.286,
        "z": 1.874,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "Color Camera",
      "name": "ZED_2",
      "params": {
        "Width": 672,
        "Height": 376,
        "Frequency": 20,
        "JpegQuality": 75,
        "FieldOfView": 90,
        "MinDistance": 0.3,
        "MaxDistance": 200,
        "Topic": "/zed_node/right/image_rect_color/compressed",
        "Frame": "zed"
      },
      "transform": {
        "x": 0.16,
        "y": 1.286,
        "z": 1.874,
        "pitch": 0,
        "yaw": 0,
        "roll": 0
      }
    },
    {
      "type": "Keyboard Control",
      "name": "Keyboard Car Control"
    },
    {
      "type": "Wheel Control",
      "name": "Wheel Car Control"
    },
    {
      "type": "Vehicle Control",
      "name": "Autoware Car Control",
      "params": { "Topic": "/vehicle_cmd" }
    }
  ]