# -------------------------------------------------------------------
#  Config file for the "rawlog-grabber" application
# Read more online: 
# http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

#  Each section [XXXXX] (but [global]) setups a thread in the RawLogGrabber 
#   standalone application. Each thread collects data from some
#   sensor or device, then the main thread groups and orders them before
#   streaming everything to a rawlog file.
#
#  The name of the sections will become the sensor label. The driver for
#   each sensor is actually determined by the field "driver", which must
#   match the name of some class in HWDRIVERS implementing CGenericSensor.


# =======================================================
#  Section: Global settings to the application
#   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= ./dataset

# Milliseconds between thread launches
time_between_launches	= 300

# Maximum time (seconds) between a sequence of observations 
#  is splitted into sensory frames
SF_max_time_span	= 0.005

# Whether to use sensory-frames to group close-in-time observations (useful for some SLAM algorithms).
use_sensoryframes 	= 1


# =======================================================
#  SENSOR: PIONEER_ROBOT
#   
# =======================================================
[PIONEER_ROBOT]
driver			= CActivMediaRobotBase
process_rate		= 90		// Hz

robotPort_WIN 		= COM1
robotPort_LIN 		= /dev/ttyUSB0
robotBaud		= 9600

enableSonars        	= 1     // 0:Disabled (default), 1: Enabled
joystick_control	= 1	// 0:Disabled (default), 1: Enabled
joystick_max_v		= 0.1	// Max joystick control speed (m/s)
joystick_max_w_degps	= 20	// Max joystick control speed (deg/s)



