diff --git a/public/configs/ntnu/config.json b/public/configs/ntnu/config.json new file mode 100644 index 0000000000000000000000000000000000000000..71e758a7c55fd688ab6333a37083c85c3abaedfe --- /dev/null +++ b/public/configs/ntnu/config.json @@ -0,0 +1,18 @@ +{ + "robots": [ + "./robots/x3.json" + ], + "ship": { + "rosbridge": { + "uri": "ws://172.23.7.1:9090" + }, + "topics": { + "mesh": "/mesh_publisher/shape" + } + }, + "transformTree": { + "rosbridge": { + "uri": "ws://172.23.7.1:9090" + } + } +} diff --git a/public/configs/ntnu/robots/x3.json b/public/configs/ntnu/robots/x3.json new file mode 100644 index 0000000000000000000000000000000000000000..535228e333c519e1d818fc687a80354a785095e8 --- /dev/null +++ b/public/configs/ntnu/robots/x3.json @@ -0,0 +1,31 @@ +{ + "rosbridge": { + "uri": "ws://172.23.7.1:9090" + }, + "type": "UV", + "name": "X3", + "topics": { + "pose": "/worldpose_global/pose", + "images": [ + { + "topic" : "/x3/Image", + "name" : "Camera" + } + + ] + }, + "mesh" : { + "uri" : "meshes/x3/Pioneer.gltf", + "transform" : { + "translation" : [0,0,0], + "rotation" : [0,3.14,0], + "scale" : [1, 1, 1] + } + }, + "services": { + "prepareMission": "/mission_manager/prepareMission", + "executeMission": "/mission_manager/executeMission" + }, + "missionFrame": "world", + "poseFrame": "world" +}