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Node.config
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{
"Name": "Node",
"Priority": 99,
"Component Instances": [
{
"Name": "up_solenoid",
"Definition": "libSolenoid_actuator.so",
"SchedulingScheme": "FIFO",
"User Configuration": {
"solenoidPin": 49,
"id": 1
},
"Logging": {
"Component Logger": {
"FileName": "Node.up_solenoid.user.log",
"Enabled": true,
"Unit": 1
},
"ROSMOD Logger": {
"FileName": "Node.up_solenoid.trace.log",
"Enabled": true,
"Unit": 1
}
},
"Timers": {},
"Publishers": [],
"Subscribers": {
"solenoid_subscriber": {
"Name": "solenoid_subscriber",
"Priority": 50,
"Deadline": 0
}
},
"Clients": [],
"Servers": {}
},
{
"Name": "BangBangController",
"Definition": "libBangBangController.so",
"SchedulingScheme": "FIFO",
"User Configuration": {},
"Logging": {
"Component Logger": {
"FileName": "Node.BangBangController.user.log",
"Enabled": true,
"Unit": 1000
},
"ROSMOD Logger": {
"FileName": "Node.BangBangController.trace.log",
"Enabled": true,
"Unit": 1000
}
},
"Timers": {},
"Publishers": [],
"Subscribers": {
"control_enable_sub": {
"Name": "control_enable_sub",
"Priority": 50,
"Deadline": 0
}
},
"Clients": [],
"Servers": {}
},
{
"Name": "down_solenoid",
"Definition": "libSolenoid_actuator.so",
"SchedulingScheme": "FIFO",
"User Configuration": {
"solenoidPin": 48,
"id": -1
},
"Logging": {
"Component Logger": {
"FileName": "Node.down_solenoid.user.log",
"Enabled": true,
"Unit": 1
},
"ROSMOD Logger": {
"FileName": "Node.down_solenoid.trace.log",
"Enabled": true,
"Unit": 1
}
},
"Timers": {},
"Publishers": [],
"Subscribers": {
"solenoid_subscriber": {
"Name": "solenoid_subscriber",
"Priority": 50,
"Deadline": 0
}
},
"Clients": [],
"Servers": {}
},
{
"Name": "HighLevelController",
"Definition": "libHighLevelController.so",
"SchedulingScheme": "FIFO",
"User Configuration": {
"takeoff_threshold": 2,
"min_omega": 0,
"MECO_threshold": 0.2,
"rollTime": 5,
"experimentTime": 10,
"initialDelay": 600,
"skip_takeoff": false,
"mecoDelay": 1.5,
"numSamples": 3,
"solCheckTime": 30,
"roll_goal": 360
},
"Logging": {
"Component Logger": {
"FileName": "Node.HighLevelController.user.log",
"Enabled": true,
"Unit": 1
},
"ROSMOD Logger": {
"FileName": "Node.HighLevelController.trace.log",
"Enabled": true,
"Unit": 1
}
},
"Timers": {
"flight_control_timer": {
"Name": "flight_control_timer",
"Period": 0.1,
"Priority": 50,
"Deadline": 0.4
}
},
"Publishers": [],
"Subscribers": {
"imuState_sub": {
"Name": "imuState_sub",
"Priority": 50,
"Deadline": 0
}
},
"Clients": [],
"Servers": {}
},
{
"Name": "vn100_imu",
"Definition": "libvn100_imu.so",
"SchedulingScheme": "FIFO",
"User Configuration": {
"port": "/dev/ttyUSB0",
"baudRate": 115200,
"buzzerPin": 112
},
"Logging": {
"Component Logger": {
"FileName": "Node.vn100_imu.user.log",
"Enabled": true,
"Unit": 10000
},
"ROSMOD Logger": {
"FileName": "Node.vn100_imu.trace.log",
"Enabled": true,
"Unit": 10000
}
},
"Timers": {
"Timer": {
"Name": "Timer",
"Period": 0.025,
"Priority": 50,
"Deadline": 0
}
},
"Publishers": [],
"Subscribers": {},
"Clients": [],
"Servers": {}
}
],
"Artifacts": [
"Node.up_solenoid.user.log",
"Node.up_solenoid.trace.log",
"Node.BangBangController.user.log",
"Node.BangBangController.trace.log",
"Node.down_solenoid.user.log",
"Node.down_solenoid.trace.log",
"Node.HighLevelController.user.log",
"Node.HighLevelController.trace.log",
"Node.vn100_imu.user.log",
"Node.vn100_imu.trace.log"
]
}