serial_number: a200-0000
version: 0
system:
  username: administrator
  hosts:
    - hostname: husky-01
      ip: 192.168.131.1
  ros2:
    namespace: husky
    domain_id: 0
    middleware:
      implementation: rmw_fastrtps_cpp
    workspaces: []
platform:
  controller: logitech
  battery:
    model: ES20_12C
    configuration: S2P1
  attachments:
    - name: front_bumper
      type: a200.bumper
      model: default
      parent: front_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
      extension: 0.0
    - name: rear_bumper
      type: a200.bumper
      model: default
      parent: rear_bumper_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
      extension: 0.0
    - name: top_plate
      type: a200.top_plate
      model: pacs
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
    - name: sensor_arch
      type: a200.sensor_arch
      model: sensor_arch_300
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
  extras: []
#    urdf:
#      package: ouster_description
#      path: urdf/ouster_description.urdf.xacro
#    launch:
#      package: ouster_ros
#      path: launch/driver.launch.py
links:
  box:
    - name: user_bay_cover
      parent: top_plate_link
      xyz: [0.0, 0.0, 0.00735]
      rpy: [0.0, 0.0, 0.0]
      size: [0.4, 0.4, 0.002]
  cylinder: []
  frame: []
  mesh: []
  sphere: []
mounts:
  bracket:
    - parent: top_plate_mount_d1
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      model: horizontal
  fath_pivot:
    - parent: sensor_arch_mount
      xyz: [0.0, 0.0, -0.021]
      rpy: [3.1415, 0.0, 0.0]
      angle: 0.0
  riser: []
  sick: []
  post: []
  disk: []
sensors:
  camera: []
  gps: []
  imu:
    - model: redshift_um7
      urdf_enabled: true
      launch_enabled: true
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ros_parameters:
        um7_driver:
          port: /dev/clearpath/um7
          frame_id: imu_0_link
          tf_ned_to_enu: true
  lidar3d: []