raspimouse.config.json

{
  "shared_robot_model": {
    "DifferentialBaseModel": {
      "robot_radius": 0.065,
      "base_length": 0.0935,
      "wheel_radius": 0.024
    }
  },
  "RealsenseD435ColorCameraViewer": {
    "isaac.viewers.ColorCameraViewer": {
      "target_fps": 15,
      "reduce_scale": 2,
      "camera_name": "RealsenseD435"
    }
  },
  "RealsenseD435DepthCameraViewer": {
    "isaac.viewers.DepthCameraViewer": {
      "target_fps": 15,
      "reduce_scale": 2,
      "camera_name": "RealsenseD435"
    }
  },
  "raspimouse_odometry": {
    "isaac.navigation.DifferentialBaseWheelImuOdometry": {
      "tick_period": "100Hz",
      "use_imu": false
    }
  },
  "base_simulation": {
    "isaac.flatsim.DifferentialBaseSimulator": {
      "flip_left_wheel": true,
      "flip_right_wheel": true,
      "joint_name_left_wheel": "left_wheel_joint",
      "joint_name_right_wheel": "right_wheel_joint",
      "tick_period": "100Hz"
    },
    "isaac.alice.Failsafe": {
      "name": "raspimouse_failsafe"
    }
  },
  "RigidBodySubscriber": {
    "isaac.alice.TcpSubscriber": {
      "port": 5001,
      "host": "localhost"
    }
  },
  "ActuatorPublisher": {
    "isaac.alice.TcpPublisher": {
      "port": 5002,
      "host": "localhost"
    }
  },
  "RealsenseD435CameraSubscriber": {
    "RealsenseD435_camera_initializer": {
      "lhs_frame": "robot",
      "rhs_frame": "RealsenseD435",
      "pose": [1, 0, 0, 0, 0.0957, 0, 0.06765]
    },
    "isaac.alice.TcpSubscriber": {
      "port": 5003,
      "host": "localhost"
    }
  },
  "websight": {
    "WebsightServer": {
      "webroot": "packages/sight/webroot",
      "assetroot": "../isaac_assets",
      "port": 3000,
      "ui_config": {
        "windows": {
          "Raspimouse Sim - RealsenseD435 Color": {
            "renderer": "2d",
            "dims": {
              "width": 480,
              "height": 270
            },
            "channels": [
              {
                "name": "raspimouse/RealsenseD435ColorCameraViewer/isaac.viewers.ColorCameraViewer/Color",
                "active": true
              }
            ]
          },
          "Raspimouse Sim - RealsenseD435 Depth": {
            "renderer": "2d",
            "dims": {
              "width": 480,
              "height": 270
            },
            "channels": [
              {
                "name": "raspimouse/RealsenseD435DepthCameraViewer/isaac.viewers.DepthCameraViewer/Depth",
                "active": true
              }
            ]
          }
        }
      }
    }
  }
}