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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 8ba07f9ee65dc7d7fe6b485a5ff36313a7fdfe96 / . / y2024 / y2024_imu.json
blob: 9ee0922df407167b9c10fe72e6c9d044a0da1b65 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
5 "type": "aos.JoystickState",
6 "source_node": "imu",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "orin1",
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]11 ],
12 "destination_nodes": [
13 {
14 "name": "orin1",
15 "priority": 5,
16 "time_to_live": 50000000,
17 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
18 "timestamp_logger_nodes": [
19 "imu"
20 ]
21 },
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]22 ]
23 },
24 {
25 "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
26 "type": "aos.message_bridge.RemoteMessage",
27 "source_node": "imu",
28 "logger": "NOT_LOGGED",
29 "frequency": 300,
30 "num_senders": 2,
31 "max_size": 200
32 },
33 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]34 "name": "/imu/aos",
35 "type": "aos.timing.Report",
36 "source_node": "imu",
37 "frequency": 50,
38 "num_senders": 20,
39 "max_size": 4096
40 },
41 {
42 "name": "/imu/aos",
43 "type": "aos.logging.LogMessageFbs",
44 "source_node": "imu",
45 "frequency": 200,
46 "num_senders": 20
47 },
48 {
49 "name": "/imu/aos",
50 "type": "aos.starter.Status",
51 "source_node": "imu",
52 "frequency": 50,
53 "num_senders": 20,
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]54 "max_size": 4096
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]55 },
56 {
57 "name": "/imu/aos",
58 "type": "aos.starter.StarterRpc",
59 "source_node": "imu",
60 "frequency": 10,
61 "num_senders": 2
62 },
63 {
64 "name": "/imu/aos",
65 "type": "aos.message_bridge.ServerStatistics",
66 "source_node": "imu",
67 "max_size": 2048,
68 "frequency": 10,
69 "num_senders": 2
70 },
71 {
72 "name": "/imu/aos",
73 "type": "aos.message_bridge.ClientStatistics",
74 "source_node": "imu",
75 "frequency": 20,
76 "num_senders": 2
77 },
78 {
79 "name": "/imu/aos",
80 "type": "aos.logging.DynamicLogCommand",
81 "source_node": "imu",
82 "frequency": 10,
83 "num_senders": 2
84 },
85 {
86 "name": "/imu/aos",
87 "type": "aos.message_bridge.Timestamp",
88 "source_node": "imu",
89 "frequency": 15,
90 "num_senders": 2,
91 "logger_nodes": [
92 "roborio"
93 ],
94 "max_size": 400,
95 "destination_nodes": [
96 {
97 "name": "roborio",
98 "priority": 1,
99 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
100 "timestamp_logger_nodes": [
101 "imu"
102 ],
103 "time_to_live": 5000000
104 }
105 ]
106 },
107 {
108 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
109 "type": "aos.message_bridge.RemoteMessage",
110 "frequency": 20,
111 "source_node": "imu",
112 "max_size": 208
113 },
114 {
115 "name": "/roborio/aos",
116 "type": "aos.starter.StarterRpc",
117 "source_node": "roborio",
118 "logger": "LOCAL_AND_REMOTE_LOGGER",
119 "logger_nodes": [
120 "imu"
121 ],
122 "destination_nodes": [
123 {
124 "name": "imu",
125 "priority": 5,
126 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
127 "timestamp_logger_nodes": [
128 "roborio"
129 ],
130 "time_to_live": 5000000
131 }
132 ]
133 },
Maxwell Henderson563efed2024-02-17 21:11:33 -0800[diff] [blame]134 {
135 "name": "/localizer",
136 "type": "frc971.controls.LocalizerOutput",
137 "source_node": "imu",
138 "frequency": 52,
139 "logger": "LOCAL_AND_REMOTE_LOGGER",
140 "logger_nodes": [
141 "roborio"
142 ],
143 "destination_nodes": [
144 {
145 "name": "roborio",
146 "priority": 5,
147 "time_to_live": 5000000,
148 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
149 "timestamp_logger_nodes": [
150 "imu"
151 ]
152 }
153 ]
154 },
155 {
156 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
157 "type": "aos.message_bridge.RemoteMessage",
158 "source_node": "imu",
159 "logger": "NOT_LOGGED",
160 "frequency": 52,
161 "num_senders": 2,
162 "max_size": 200
163 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]164 {
165 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
166 "type": "aos.message_bridge.RemoteMessage",
167 "source_node": "roborio",
168 "logger": "NOT_LOGGED",
169 "frequency": 20,
170 "num_senders": 2,
171 "max_size": 200
172 },
173 {
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]174 "name": "/orin2/camera0",
175 "type": "frc971.vision.CameraImage",
176 "source_node": "imu",
177 "channel_storage_duration": 1000000000,
178 "frequency": 65,
179 "max_size": 4752384,
180 "num_readers": 6,
181 "read_method": "PIN",
182 "num_senders": 18
183 },
184 {
185 "name": "/orin2/camera1",
186 "type": "frc971.vision.CameraImage",
187 "source_node": "imu",
188 "channel_storage_duration": 1000000000,
189 "frequency": 65,
190 "max_size": 4752384,
191 "num_readers": 6,
192 "read_method": "PIN",
193 "num_senders": 18
194 },
195 {
196 "name": "/orin2/camera0",
197 "type": "foxglove.CompressedImage",
198 "source_node": "imu",
199 "logger": "NOT_LOGGED",
200 "channel_storage_duration": 1000000000,
201 "frequency": 65,
202 "max_size": 622384
203 },
204 {
205 "name": "/orin2/camera1",
206 "type": "foxglove.CompressedImage",
207 "source_node": "imu",
208 "logger": "NOT_LOGGED",
209 "channel_storage_duration": 1000000000,
210 "frequency": 65,
211 "max_size": 622384
212 },
213 {
214 "name": "/orin2/camera0",
215 "type": "foxglove.ImageAnnotations",
216 "source_node": "imu",
217 "frequency": 65,
218 "max_size": 50000
219 },
220 {
221 "name": "/orin2/camera1",
222 "type": "foxglove.ImageAnnotations",
223 "source_node": "imu",
224 "frequency": 65,
225 "max_size": 50000
226 },
227 {
228 "name": "/orin2/camera0",
229 "type": "y2024.localizer.Visualization",
230 "source_node": "imu",
231 "frequency": 65,
232 "max_size": 50000
233 },
234 {
235 "name": "/orin2/camera1",
236 "type": "y2024.localizer.Visualization",
237 "source_node": "imu",
238 "frequency": 65,
239 "max_size": 50000
240 },
241 {
242 "name": "/orin2/camera0",
243 "type": "frc971.vision.TargetMap",
244 "source_node": "imu",
245 "frequency": 65,
246 "num_senders": 2,
247 "max_size": 1024
248 },
249 {
250 "name": "/orin2/camera1",
251 "type": "frc971.vision.TargetMap",
252 "source_node": "imu",
253 "frequency": 65,
254 "num_senders": 2,
255 "max_size": 1024
256 },
257 {
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]258 "name": "/imu",
259 "type": "frc971.imu.DualImu",
260 "source_node": "imu",
261 "frequency": 1100,
262 "num_senders": 1,
263 "max_size": 496
264 },
265 {
266 "name": "/imu",
267 "type": "frc971.imu.CanTranslatorStatus",
268 "source_node": "imu",
269 "frequency": 1000,
270 "num_senders": 1,
271 "max_size": 200
272 },
273 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]274 "name": "/can/cana",
275 "type": "frc971.can_logger.CanFrame",
276 "source_node": "imu",
277 "frequency": 6000,
278 "num_senders": 2,
279 "max_size": 200
280 },
281 {
282 "name": "/can/canb",
283 "type": "frc971.can_logger.CanFrame",
284 "source_node": "imu",
285 "frequency": 6000,
286 "num_senders": 2,
287 "max_size": 200
288 },
289 {
290 "name": "/can/canc",
291 "type": "frc971.can_logger.CanFrame",
292 "source_node": "imu",
293 "frequency": 6000,
294 "num_senders": 2,
295 "max_size": 200
296 },
297 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]298 "name": "/localizer",
299 "type": "frc971.IMUValuesBatch",
300 "source_node": "imu",
301 "frequency": 2200,
302 "max_size": 1600,
303 "num_senders": 2
304 },
305 {
Maxwell Henderson87b1e6c2024-02-11 23:40:05 -0800[diff] [blame]306 "name": "/imu",
307 "type": "frc971.imu.DualImuBlenderStatus",
308 "source_node": "imu",
309 "frequency": 1100,
310 "num_senders": 1,
311 "max_size": 200
312 },
313 {
James Kuszmaul313e9ce2024-02-11 17:47:33 -0800[diff] [blame]314 "name": "/localizer",
315 "type": "y2024.localizer.Status",
316 "source_node": "imu",
317 "frequency": 1600,
318 "max_size": 1600,
319 "num_senders": 2
320 },
321 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]322 "name": "/imu/constants",
323 "type": "y2024.Constants",
324 "source_node": "imu",
325 "frequency": 1,
326 "num_senders": 2,
327 "max_size": 65536
328 }
329 ],
330 "applications": [
331 {
332 "name": "message_bridge_client",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]333 "args": [
334 "--rt_priority=16",
335 "--sinit_max_init_timeout=5000"
336 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]337 "nodes": [
338 "imu"
339 ]
340 },
341 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]342 "name": "joystick_republish",
343 "executable_name": "joystick_republish",
344 "user": "pi",
345 "nodes": [
346 "imu"
347 ]
348 },
349 {
350 "name": "message_bridge_server",
351 "executable_name": "message_bridge_server",
352 "user": "pi",
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]353 "args": [
James Kuszmaul115def82024-02-22 14:42:05 -0800[diff] [blame]354 "--rt_priority=16"
Maxwell Hendersona7c5f8c2024-02-19 21:14:17 -0800[diff] [blame]355 ],
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]356 "nodes": [
357 "imu"
358 ]
359 },
360 {
James Kuszmaul313e9ce2024-02-11 17:47:33 -0800[diff] [blame]361 "name": "localizer",
362 "executable_name": "localizer_main",
363 "user": "pi",
364 "nodes": [
365 "imu"
366 ]
367 },
368 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]369 "name": "localizer_logger",
James Kuszmaulecafe1f2024-02-27 20:29:53 -0800[diff] [blame]370 "executable_name": "localizer_logger",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]371 "user": "pi",
372 "nodes": [
373 "imu"
374 ]
375 },
376 {
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]377 "name": "can_logger",
378 "executable_name": "can_logger",
379 "nodes": [
380 "imu"
381 ]
382 },
Maxwell Henderson4f35c832024-02-11 15:40:30 -0800[diff] [blame]383 // TODO(max): Update the channel value with whatever channel the IMU is on.
384 {
385 "name": "can_translator",
386 "executable_name": "can_translator",
387 "args": [
388 "--channel=/can/canb"
389 ],
390 "nodes": [
391 "imu"
392 ]
393 },
Maxwell Henderson0604e6f2024-01-15 15:24:44 -0800[diff] [blame]394 {
Maxwell Henderson87b1e6c2024-02-11 23:40:05 -0800[diff] [blame]395 "name": "dual_imu_blender",
396 "executable_name": "dual_imu_blender",
397 "nodes": [
398 "imu"
399 ]
400 },
401 {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]402 "name": "web_proxy",
403 "executable_name": "web_proxy_main",
404 "args": [
405 "--min_ice_port=5800",
406 "--max_ice_port=5810"
407 ],
408 "user": "pi",
409 "nodes": [
410 "imu"
411 ]
412 },
413 {
414 "name": "foxglove_websocket",
415 "user": "pi",
416 "nodes": [
417 "imu"
418 ]
419 },
420 {
421 "name": "constants_sender",
422 "autorestart": false,
423 "user": "pi",
424 "nodes": [
425 "imu"
426 ]
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]427 },
428 {
429 "name": "image_logger",
430 "executable_name": "image_logger",
431 "args": [
432 "--rotate_every",
433 "30.0",
434 "--direct",
435 "--flush_size=4194304"
436 ],
437 "user": "pi",
438 "nodes": [
439 "imu"
440 ]
441 },
442 {
443 "name": "foxglove_websocket",
444 "user": "pi",
445 "nodes": [
446 "imu"
447 ]
448 },
449 {
450 "name": "foxglove_image_converter0",
451 "executable_name": "foxglove_image_converter",
452 "user": "pi",
453 "args": [
454 "--channel", "/camera0"
455 ],
456 "nodes": [
457 "imu"
458 ]
459 },
460 {
461 "name": "foxglove_image_converter1",
462 "executable_name": "foxglove_image_converter",
463 "user": "pi",
464 "args": [
465 "--channel", "/camera1"
466 ],
467 "nodes": [
468 "imu"
469 ]
470 },
471 {
472 "name": "constants_sender",
473 "autorestart": false,
474 "user": "pi",
475 "nodes": [
476 "imu"
477 ]
478 },
479 {
480 "name": "argus_camera0",
481 "executable_name": "argus_camera",
482 "args": [
483 "--enable_ftrace",
484 "--camera=0",
485 "--channel=/camera0",
486 ],
487 "user": "pi",
488 "nodes": [
489 "imu"
490 ]
491 },
492 {
493 "name": "argus_camera1",
494 "executable_name": "argus_camera",
495 "args": [
496 "--enable_ftrace",
497 "--camera=1",
498 "--channel=/camera1",
499 ],
500 "user": "pi",
501 "nodes": [
502 "imu"
503 ]
504 },
505 {
506 "name": "apriltag_detector0",
507 "executable_name": "apriltag_detector",
508 "args": [
509 "--channel=/camera0",
510 ],
511 "user": "pi",
512 "nodes": [
513 "imu"
514 ]
515 },
516 {
517 "name": "apriltag_detector1",
518 "executable_name": "apriltag_detector",
519 "args": [
520 "--channel=/camera1",
521 ],
522 "user": "pi",
523 "nodes": [
524 "imu"
525 ]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]526 }
527 ],
528 "maps": [
529 {
530 "match": {
531 "name": "/constants*",
532 "source_node": "imu"
533 },
534 "rename": {
535 "name": "/imu/constants"
536 }
537 },
538 {
539 "match": {
540 "name": "/aos*",
541 "source_node": "imu"
542 },
543 "rename": {
544 "name": "/imu/aos"
545 }
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]546 },
547 {
548 "match": {
549 "name": "/camera*",
550 "source_node": "imu"
551 },
552 "rename": {
553 "name": "/orin2/camera"
554 }
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]555 }
556 ],
557 "nodes": [
558 {
559 "name": "imu",
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]560 "hostname": "orin2",
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]561 "hostnames": [
Maxwell Henderson8ba07f92024-02-27 18:54:00 -0800[diff] [blame^]562 "orin-971-2",
563 "orin-7971-2",
564 "orin-8971-2",
565 "orin-9971-2"
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]566 ],
567 "port": 9971
568 },
569 {
570 "name": "roborio"
Jim Ostrowski855b7442024-01-20 18:03:09 -0800[diff] [blame]571 },
572 {
573 "name": "orin1"
574 },
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]575 ]
576}