svo_realsense_xsens_imu.config.json

{
  "name": "svo_realsense_xsens_imu",
  "modules": [
    "perception:stereo_visual_odometry",
    "realsense",
    "utils",
    "viewers"
  ],
  "graph": {
    "nodes": [
      {
        "name": "xsense_imu_node",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          }
        ]
      }
    ],
    "edges": []
  },
  "config": {
    "xsense_imu_node": {
      "PyCodelet": {
        "freq_div": 3,
        "device": "auto",
        "baudrate": 0,
        "timeout": 0.002,
        "initial_wait": 0.1,
        "frame_id": "imu_link",
        "base_frame_id": "left_ir_camera",
        "frame_local": "ENU",
        "no_rotation_duration": 0,
        "rotate_from_base_frame": [1.57, -1.57, 0],
        "trans_from_base_frame": [0.035, -0.045, 0],
        "angular_velocity_covariance_diagonal": [0.0004, 0.0004, 0.0004],
        "linear_acceleration_covariance_diagonal": [0.0004, 0.0004, 0.0004],
        "orientation_covariance_diagonal": [0.01745, 0.01745, 0.15708]
      }
    },
    "websight": {
      "WebsightServer": {
        "port": 3000,
        "ui_config": {
          "windows": {
            "Realsense - Left IR": {
              "renderer": "2d",
              "dims": {
                "width": 640,
                "height": 360
              },
              "channels": [
                {
                  "name": "svo_realsense_xsens_imu/viewers/ColorCameraViewer/Color",
                  "active": true
                }
              ]
            },
            "Camera Pose": {
              "renderer": "3d",
              "dims": {
                "width": 1100,
                "height": 450
              },
              "channels": [
                {
                  "name": "svo_realsense_xsens_imu/tracker/StereoVisualOdometry/current_pose",
                  "active": true
                },
                {
                  "name": "svo_realsense_xsens_imu/tracker/StereoVisualOdometry/pose_trail",
                  "active": true
                }
              ]
            },
            "tracker": {
              "renderer": "plot",
              "channels": [
                { "name": "svo_realsense_xsens_imu/tracker/StereoVisualOdometry/vo.pos_x" },
                { "name": "svo_realsense_xsens_imu/tracker/StereoVisualOdometry/vo.pos_y" },
                { "name": "svo_realsense_xsens_imu/tracker/StereoVisualOdometry/vo.pos_z" }
              ]
            },
            "imu_acc": {
              "renderer": "plot",
              "channels": [
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.lin_acc_x" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.lin_acc_y" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.lin_acc_z" }
              ]
            },
            "imu_ang_vel": {
              "renderer": "plot",
              "channels": [
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.ang_vel_x" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.ang_vel_y" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.ang_vel_z" }
              ]
            },
            "imu_rpy": {
              "renderer": "plot",
              "channels": [
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.roll" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.pitch" },
                { "name": "svo_realsense_xsens_imu/xsense_imu_node/PyCodelet/imu.yaw" }
              ]
            }
          }
        }
      }
    }
  }
}