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| "name": "/orin1/camera1", |
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| "name": "/orin1/camera0", |
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| "name": "/orin1/camera1", |
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| "name": "/orin1/camera0", |
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| "imu" |
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| "name": "imu", |
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| "orin1" |
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| "imu" |
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| "name": "imu", |
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| "orin1" |
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| ] |
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| "name": "/orin1/aos/remote_timestamps/imu/orin1/camera0/frc971-vision-TargetMap", |
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| "name": "/orin1/aos/remote_timestamps/imu/orin1/camera1/frc971-vision-TargetMap", |
| "type": "aos.message_bridge.RemoteMessage", |
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| "name": "/orin1/hardware_monitor", |
| "type": "frc971.orin.HardwareStats", |
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| "name": "/orin1/constants", |
| "type": "y2024.Constants", |
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| "num_senders": 2, |
| "max_size": 65536 |
| } |
| ], |
| "applications": [ |
| { |
| "name": "message_bridge_client", |
| "executable_name": "message_bridge_client", |
| "args": [ |
| "--rt_priority=16", |
| "--sinit_max_init_timeout=5000", |
| "--rmem=8388608" |
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| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "irq_affinity", |
| "executable_name": "irq_affinity", |
| "user": "root", |
| "args": ["--user=pi", "--irq_config=orin_irq_config.json"], |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "filesystem_monitor", |
| "executable_name": "filesystem_monitor", |
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| "orin1" |
| ] |
| }, |
| { |
| "name": "hardware_monitor", |
| "executable_name": "hardware_monitor", |
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| "orin1" |
| ] |
| }, |
| { |
| "name": "message_bridge_server", |
| "executable_name": "message_bridge_server", |
| "args": [ |
| "--rt_priority=16", |
| "--force_wmem_max=131072" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "web_proxy", |
| "executable_name": "web_proxy_main", |
| "user": "pi", |
| "args": [ |
| "--min_ice_port=5800", |
| "--max_ice_port=5810" |
| ], |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "image_logger", |
| "executable_name": "image_logger", |
| "args": [ |
| "--rotate_every", |
| "30.0", |
| "--direct", |
| "--flush_size=4194304" |
| ], |
| "user": "pi", |
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| "orin1" |
| ] |
| }, |
| { |
| "name": "foxglove_websocket", |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "foxglove_image_converter0", |
| "executable_name": "foxglove_image_converter", |
| "user": "pi", |
| "args": [ |
| "--channel", "/camera0" |
| ], |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "foxglove_image_converter1", |
| "executable_name": "foxglove_image_converter", |
| "user": "pi", |
| "args": [ |
| "--channel", "/camera1" |
| ], |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "constants_sender", |
| "autorestart": false, |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "argus_monitor_orin1", |
| "executable_name": "argus_monitor", |
| "args": [ |
| "/orin1/camera0", |
| "frc971.vision.TargetMap", |
| "/orin1/camera1", |
| "frc971.vision.TargetMap", |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "argus_camera0", |
| "executable_name": "argus_camera", |
| "args": [ |
| "--camera=0", |
| "--channel=/camera0" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "argus_camera1", |
| "executable_name": "argus_camera", |
| "args": [ |
| "--camera=1", |
| "--channel=/camera1" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "apriltag_detector0", |
| "executable_name": "apriltag_detector", |
| "args": [ |
| "--channel=/camera0" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "apriltag_detector1", |
| "executable_name": "apriltag_detector", |
| "args": [ |
| "--channel=/camera1" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| }, |
| { |
| "name": "image_streamer", |
| "executable_name": "image_streamer", |
| "args": [ |
| "--device=/dev/uvcvideo", |
| "--height=480", |
| "--width=640", |
| "--nopublish_images", |
| "--exposure=0", |
| "--framerate=30", |
| "--streaming_port=1181", |
| "--bitrate=1000000", |
| "--data_dir=/home/pi/bin/image_streamer_www" |
| ], |
| "user": "pi", |
| "nodes": [ |
| "orin1" |
| ] |
| } |
| ], |
| "maps": [ |
| { |
| "match": { |
| "name": "/aos*", |
| "source_node": "orin1" |
| }, |
| "rename": { |
| "name": "/orin1/aos" |
| } |
| }, |
| { |
| "match": { |
| "name": "/constants*", |
| "source_node": "orin1" |
| }, |
| "rename": { |
| "name": "/orin1/constants" |
| } |
| }, |
| { |
| "match": { |
| "name": "/camera*", |
| "source_node": "orin1" |
| }, |
| "rename": { |
| "name": "/orin1/camera" |
| } |
| }, |
| { |
| "match": { |
| "name": "/hardware_monitor*", |
| "source_node": "orin1" |
| }, |
| "rename": { |
| "name": "/orin1/hardware_monitor" |
| } |
| } |
| ], |
| "nodes": [ |
| { |
| "name": "orin1", |
| "hostname": "orin1", |
| "hostnames": [ |
| "orin-971-1", |
| "orin-7971-1", |
| "orin-8971-1", |
| "orin-9971-1" |
| ], |
| "port": 9971 |
| }, |
| { |
| "name": "imu" |
| } |
| ] |
| } |