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Configuration Guide
Configuration File Location
The configuration file config.json will be automatically generated in the same directory as the executable when first running the software. Changes to the configuration require restarting the software to take effect.
Configuration Items
ROS Topic Configuration
{
"topics": {
"map": {
"display_name": "Map",
"topic": "/map",
"enable": true
},
"laser": {
"display_name": "LaserScan",
"topic": "/scan",
"enable": true
},
"odom": {
"display_name": "Odometry",
"topic": "/odom",
"enable": true
},
"velocity": {
"display_name": "Speed",
"topic": "/cmd_vel",
"enable": true
},
"initialpose": {
"display_name": "Reloc",
"topic": "/initialpose",
"enable": true
},
"move_base_simple": {
"display_name": "NavGoal",
"topic": "/move_base_simple/goal",
"enable": true
},
"battery": {
"display_name": "Battery",
"topic": "/battery",
"enable": true
}
}
}
Robot Shape Configuration
{
"robot_shape_config": {
"shaped_points": [
{
"x": 0.5,
"y": 0.5
},
{
"x": 0.5,
"y": -0.5
},
{
"x": -0.5,
"y": -0.5
},
{
"x": -0.5,
"y": 0.5
}
],
"is_ellipse": false,
"color": "0x00000FF",
"opacity": 0.5
}
}
Camera Configuration
{
"images": [
{
"location": "front",
"topic": "/camera/rgb/image_raw",
"enable": true
},
{
"location": "front/depth",
"topic": "/camera/depth/image_raw",
"enable": true
}
]
}