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params.yaml
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params.yaml
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---
# IN ORDER TO USE THIS FILE: make sure it is also located in /sdcard/params.yaml on the Loomo
# If not already, run: adb push params.yaml /sdcard/
# MainActivity.java
masterURI: http://192.168.42.111:11311/ # not needed with ros2
ntpServerIP: 192.168.42.111
# RealsensePublisher.java
rsDepthOpticalFrame: rs_depth_optical_frame
rsColorOpticalFrame: rs_color_optical_frame
fisheyeOpticalFrame: fisheye_optical_frame
mRsColorWidth: 640
mRsColorHeight: 480
mRsDepthWidth: 320
mRsDepthHeight: 240
mFisheyeWidth: 640
mFisheyeHeight: 480
# LoomoRosBridgeNode.java
nodeName: loomo_ros_bridge_node
tfPrefix: LO01
shouldPubUltrasonic: false
shouldPubInfrared: false
shouldPubBasePitch: true
useTfPrefix: true
mFisheyeCamPubrTopic: /fisheye/rgb
mFisheyeCompressedPubrTopic: /fisheye/rgb/compressed
mFisheyeCamInfoPubrTopic: /fisheye/camera_info
mRsColorPubrTopic: /realsense_loomo/rgb
mRsColorCompressedPubrTopic: /realsense_loomo/rgb/compressed
mRsColorInfoPubrTopic: /realsense_loomo/rgb/camera_info
mRsDepthPubrTopic: /realsense_loomo/depth
mRsDepthInfoPubrTopic: /realsense_loomo/depth/camera_info
mTfPubrTopic: /tf
mInfraredPubrTopic: /infrared
mUltrasonicPubrTopic: /ultrasonic
mBasePitchPubrTopic: /base_pitch
mCmdVelSubrTopic: /cmd_vel