# -------------------------------------------------------------------
#  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		= ./roadbot

# Milliseconds between thread launches
time_between_launches	= 800

use_sensoryframes	= 0

GRABBER_PERIOD_MS	= 3000

# =======================================================
#  SENSOR: LASER_2D
#   
# =======================================================
[LASER_2D]
driver			= CSickLaserUSB
process_rate		= 60		// Hz

sensorLabel  		= LMS_FRONT
pose_x			= 0.095	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0.31
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0
SICKUSB_serialNumber	= LASER001


# =======================================================
#  SENSOR: LASER_TRASERO_1
#   
# =======================================================
[LASER_TRAS_1]
driver			= CSickLaserUSB
process_rate		= 60		// Hz

sensorLabel  		= LMS_MASTER
pose_x			= 0.095	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0.31
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0
SICKUSB_serialNumber	= LASER003

# =======================================================
#  SENSOR: LASER_TRASERO_2
#   
# =======================================================
[LASER_TRAS_2]
driver			= CSickLaserUSB
process_rate		= 60		// Hz

sensorLabel  		= LMS_SLAVE
pose_x			= 0.095	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0.31
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0
SICKUSB_serialNumber	= LASER004


# =======================================================
#  SENSOR: GPS_JAVAD
#   
# =======================================================
[GPS_1]
driver			= CGPSInterface
process_rate		= 4		// Hz

sensorLabel  		= GPS_1
COM_port_WIN		= COM16
COM_port_LIN		= ttyUSB1
baudRate		= 115200
customInit		= 

pose_x			= 0	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0


# =======================================================
#  SENSOR: GPS_JAVAD
#   
# =======================================================
#[GPS_JAVAD_2]
#driver			= CGPSInterface
#process_rate		= 4		// Hz

#sensorLabel  		= GPS_2
#COM_port_WIN		= COM17
#COM_port_LIN		= ttyUSB1
#baudRate		= 115200
#customInit		= 

#pose_x			= 0	// Laser range scaner 3D position in the robot (meters)
#pose_y			= 0
#pose_z			= 0


# =======================================================
#  SENSOR: xSENS
#   
# =======================================================
[xSENS]
driver			= CIMUXSens
process_rate		= 70		// Hz

#COM_port_LIN		= /dev/ttyUSB1
#COM_port_WIN		= COM4
#baudRate		= 115200

sensorLabel  		= XSensMTi
pose_x			= 0.095	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0.31
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0


