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sensorConfig.yaml
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sensorConfig.yaml
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%YAML 1.2
---
# Configuration
sensor_pointcloud:
pointcloudFrame: map
# List of sensors
sensors:
- sensor0
- sensor1
- sensor2
- sensor3
- sensor4
sensor0:
topic: sensor_hub/range
device:
type: SRF05
pin: 14
timeout: 60000
transform:
frame: sensor0
posX: 0.03
posY: -0.07
posZ: 0.05
roll: deg(0)
pitch: deg(0)
yaw: deg(-90)
sensor1:
topic: sensor_hub/range
device:
type: SRF10
addr: 0xE2
timeout: 60000
transform:
frame: sensor1
posX: 0.08
posY: -0.05
posZ: 0.05
roll: deg(0)
pitch: deg(0)
yaw: deg(-45)
sensor2:
topic: sensor_hub/range
device:
type: SRF10
addr: 0xE4
timeout: 60000
transform:
frame: sensor2
posX: 0.10
posY: 0.0
posZ: 0.05
roll: deg(0)
pitch: deg(0)
yaw: deg(0)
sensor3:
topic: sensor_hub/range
device:
type: SRF10
addr: 0xE6
timeout: 60000
transform:
frame: sensor3
posX: 0.08
posY: 0.05
posZ: 0.05
roll: deg(0)
pitch: deg(0)
yaw: deg(45)
sensor4:
topic: sensor_hub/range
device:
type: SRF05
pin: 16
timeout: 60000
transform:
frame: sensor4
posX: 0.03
posY: 0.07
posZ: 0.05
roll: deg(0)
pitch: deg(0)
yaw: deg(90)
...