tortuga/data/config/erc.yml at master · robotics-at-maryland/tortuga · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
GUI:
    updateRate: 5
    singleSubsystem: 1

# Config for the vehicle
# Each module is a seperate system that needs to be started up
Subsystems:
    VisionSystem:
        type: VisionSystem
        depends_on: ["EventHub", "Vehicle"]
        priority: "low"

        ForwardRecorders:
        #    forward.avi: 5 # Really compressed @ 5Hz
        #    forward.rmv: 5 # Raw video at 10Hz
            "50012(320,240)": 5 # Really compressed streaming @ 5hz
        DownwardRecorders:
        #    downward.avi: 5 # Really compressed @ 5Hz
        #    downward.rmv: 5 # Raw video at 10Hz
            "50013(320,240)": 5 # Really compressed streaming @ 5hz

        # Includes all camera and vision system settings
        INCLUDE: data/config/vision/erc.yml


    Ai:
         type: AI

         # Includes the "taskOrder" for the AI
         INCLUDE: data/config/ai/erc_ai.yml


    StateMachine:
        type: StateMachine
        depends_on: ["EventHub", "QueuedEventHub", "Controller", "Vehicle",
                     "MotionManager", "TimerManager", "Ai", "VisionSystem"]
        States:
            # Includes all the state specific NBRF settings
            INCLUDE: data/config/ai/erc_state.yml


    # Includes all common subsystems
    INCLUDE: data/config/base.yml