robot_new.cfg

{
    "url"     : "http://54.228.122.51:9000/",
    "userID"  : "testUser",
    "password": "testUser",
    "robotID" : "cloudbot1",
    
    "containers" : [
        {
            "cTag" : "cloudbot1_container"
        }
    ],
    
    "nodes" : [
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "visual_odometry",
            "pkg"  : "ccny_rgbd",
            "exe"  : "visual_odometry_node",
	    "args" : " _verbose:=false _publish_tf:=true _fixed_frame:=/odom _base_frame:=/camera_link _feature/detector_type:=GFT  _feature/smooth:=0 _feature/max_range:=7.0 _feature/max_stdev:=0.05 _feature/show_keypoints:=false _feature/publish_feature_cloud:=true _feature/publish_feature_covariances:=false _feature/GFT/n_features:=400 _feature/GFT/min_distance:=2.0  _reg/reg_type:=ICPProbModel _reg/motion_constraint:=0 _reg/ICPProbModel/max_iterations:=10 _reg/ICPProbModel/max_model_size:=10000 _reg/ICPProbModel/n_nearest_neighbors:=4 _reg/ICPProbModel/max_assoc_dist_mah:=10.0 _reg/ICPProbModel/max_corresp_dist_eucl:=0.15 _reg/ICPProbModel/publish_model_cloud:=false _reg/ICPProbModel/publish_model_covariances:=false"
        }, 
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "keyframe_mapper",
            "pkg"  : "ccny_rgbd",
            "exe"  : "keyframe_mapper_node",
	    "args" : "_kf_dist_eps:=0.25  _kf_angle_eps:=0.35 _full_map_res:=0.01 _max_range:=7.0 _max_stdev:=0.05"
        },
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "rgb_decompression_node",
            "pkg"  : "image_transport",
            "exe"  : "republish",
	    "args" : "compressed in:=/rgbd/rgb raw out:=/rgbd/rgb"
        },
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "depth_decompression_node",
            "pkg"  : "image_transport",
            "exe"  : "republish",
	    "args" : "compressedDepth in:=/rgbd/depth raw out:=/rgbd/depth"
        },
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "camera_base_link",
            "pkg"  : "tf",
            "exe"  : "static_transform_publisher",
	    "args" : "0 -0.045 0 0 0 0  /camera_link /camera_rgb_frame 33.33"
        },
	{
            "cTag" : "cloudbot1_container",
            "nTag" : "camera_base_link1",
            "pkg"  : "tf",
            "exe"  : "static_transform_publisher",
	    "args" : "0 0 0 -1.5707963267948966 0 -1.5707963267948966 /camera_rgb_frame /camera_rgb_optical_frame 33.33"
        }
    ],
    
    "parameters" : [],
    
    "interfaces" : [
        {
            "eTag"  : "cloudbot1",
            "iTag"  : "depthImageConverter", 
            "iType" : "SubscriberConverter",
            "iCls"  : "sensor_msgs/CompressedImage", 
            "addr"  : "/depth/image_raw/compressedDepth"
        }, 
	{
            "eTag"  : "cloudbot1",
            "iTag"  : "rgbImageConverter", 
            "iType" : "SubscriberConverter",
            "iCls"  : "sensor_msgs/CompressedImage", 
            "addr"  : "/rgb/image_raw/compressed"
        },
	{
            "eTag"  : "cloudbot1",
            "iTag"  : "rgbInfoConverter", 
            "iType" : "SubscriberConverter",
            "iCls"  : "sensor_msgs/CameraInfo", 
            "addr"  : "/rgb/camera_info"
        },


	{
            "eTag"  : "cloudbot1_container",
            "iTag"  : "depthImageInterface", 
            "iType" : "PublisherInterface",
            "iCls"  : "sensor_msgs/CompressedImage", 
            "addr"  : "/rgbd/depth/compressedDepth"
        },
	{
            "eTag"  : "cloudbot1_container",
            "iTag"  : "rgbImageInterface", 
            "iType" : "PublisherInterface",
            "iCls"  : "sensor_msgs/CompressedImage", 
            "addr"  : "/rgbd/rgb/compressed"
        },
	{
            "eTag"  : "cloudbot1_container",
            "iTag"  : "rgbInfoInterface", 
            "iType" : "PublisherInterface",
            "iCls"  : "sensor_msgs/CameraInfo", 
            "addr"  : "/rgbd/info"
        },



	{
            "eTag"  : "cloudbot1",
            "iTag"  : "cmdVelConverter", 
            "iType" : "PublisherConverter",
            "iCls"  : "geometry_msgs/Twist", 
            "addr"  : "/cmd_vel"
        }


	
    ],
    
    "connections" : [
        {
            "tagA" : "cloudbot1/rgbImageConverter",
            "tagB" : "cloudbot1_container/rgbImageInterface"
        }, {
            "tagA" : "cloudbot1/depthImageConverter",
            "tagB" : "cloudbot1_container/depthImageInterface"
        }, {
            "tagA" : "cloudbot1/rgbInfoConverter",
            "tagB" : "cloudbot1_container/rgbInfoInterface"
        }
    ]
}