# This is is the hserver configuration file.

<start camera camera1>
port_string = /dev/ttyS0
<end>

<start laser laserS1>
name = front
port_string = /dev/ttyS1
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
#stream_host = localhost # used for streaming
<end>

<start laser atrv-front>
name = front
port_string = /dev/ttyR2
angle_offset = 0
x_offset = 40  # in cm
y_offset = 0   # in cm
listen_ipt = false
send_ipt = false
#stream_host = localhost # used for streaming
<end>

<start laser atrv-back>
name = back
port_string = /dev/ttyR1
angle_offset = 180
x_offset = -40  # in cm
y_offset = -10  # in cm
listen_ipt = false
send_ipt = false
#stream_host = localhost # used for streaming
<end>

<start laser front>
name = front
port_string = /dev/ttyR5
angle_offset = 0
#x_offset = 10  # in cm
x_offset = 0  # in cm
y_offset = 0   # in cm
listen_ipt = false
send_ipt = false
#stream_host = localhost # used for streaming
<end>

<start laser back>
name = back
port_string = /dev/ttyR6
angle_offset = 180
#x_offset = -10  # in cm
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
#stream_host = localhost # used for streaming
<end>

<start cognachrome cog1>
port_string = /dev/ttyS0
<end>

<start nomad 150>
type = 150
port_string = /dev/ttyS0
<end>

<start nomad 200>
type = 200
host_name = cortez
<end>

<start pioneer pioneer1>
port_string = /dev/ttyS0
<end>

<start amigobot amigobot1>
port_string = /dev/ttyS0
<end>

<start roomba roomba1>
port_string = /dev/ttyUSB0
<end>

<start robotLaser robotlaser1>
port_string = toro.usal.es
<end>

<start framegrabber framegrabber1>
port_string = /dev/video
<end>

#<start gps gps1>
<start gps tsrb>
use_base = false
port_string = /dev/ttyR1
base_lat = 33.77807
base_long = -84.38997
#x_diff = 10
#y_diff = 10
x_diff = 53
y_diff = 29.5
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

<start gps gps1>
#<start gps benning-demo>
use_base = false
port_string = /dev/ttyR1
base_lat = 32.36969
base_long = -84.80479
x_diff = 120
y_diff = 15
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

<start gps gps1>
#<start gps benning-demo-old>
use_base = false
port_string = /dev/ttyR1
base_lat = 32.36964
base_long = -84.80467
x_diff = 125
y_diff = 15
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

#<start gps gps1>
<start gps benning-comm>
use_base = false
port_string = /dev/ttyR1
base_lat = 32.37062
base_long = -84.80440
x_diff = 153
y_diff = 129
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

#<start gps gps1>
<start gps benning-field>
use_base = false
port_string = /dev/ttyR1
base_lat = 32.36830
base_long = -84.80918
x_diff = 135
y_diff = 148
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

#<start gps gps1>
<start gps benning-village>
use_base = false
port_string = /dev/ttyR1
base_lat = 32.36987
base_long = -84.80416
x_diff = 173
y_diff = 37
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

<start gps gpscan>
type = CAN
x_diff = 5
y_diff = 5
m_per_lat = 111194.927
m_per_long = 92821.387
<end>

<start carmen carmenLocal>
central_server = 127.0.0.1
<end>

<start gps carmenLocal>
type = CARMEN
port_string = 127.0.0.1
<end>

<start laser carmenLocal>
port_string = CARMEN
name = 127.0.0.1
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
<end>

<start carmen carmen1>
central_server = 127.0.0.1:3001
<end>

<start gps carmen1>
type = CARMEN
port_string = 127.0.0.1:3001
<end>

<start laser carmen1>
port_string = CARMEN
name = 127.0.0.1:3001
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
<end>

<start carmen carmen2>
central_server = 127.0.0.1:3002
<end>

<start gps carmen2>
type = CARMEN
port_string = 127.0.0.1:3002
<end>

<start laser carmen2>
port_string = CARMEN
name = 127.0.0.1:3002
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
<end>

<start carmen carmen3>
central_server = 127.0.0.1:3003
<end>

<start gps carmen3>
type = CARMEN
port_string = 127.0.0.1:3003
<end>

<start laser carmen3>
port_string = CARMEN
name = 127.0.0.1:3003
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
<end>

<start compass compass1>
port_string = /dev/ttyR2
type = 3DM-G # 3DM-G or KVH-C100
<end>

<start compass compass2>
port_string = /dev/ttyR3
type = KVH-C100 # 3DM-G or KVH-C100
<end>

<start gyro gyro1>
type = DMU-VGX
<end>

<start jbox jbox19>
jbox_id = 19
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox20>
jbox_id = 20
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox21>
jbox_id = 21
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox22>
jbox_id = 22
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox23>
jbox_id = 23
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox24>
jbox_id = 24
disable_network_query = false
gps_section = gps1
<end>

<start jbox jbox19-lite>
jbox_id = 19
disable_network_query = true
gps_section = gps1
<end>

<start jbox jbox20-lite>
jbox_id = 20
disable_network_query = true
gps_section = gps1
<end>

<start jbox jbox21-lite>
jbox_id = 21
disable_network_query = true
gps_section = gps1
<end>

<start jbox jbox22-lite>
jbox_id = 22
disable_network_query = true
gps_section = gps1
<end>

<start jbox jbox23-lite>
jbox_id = 23
disable_network_query = true
gps_section = gps1
<end>

<start jbox jbox24-lite>
jbox_id = 24
disable_network_query = true
gps_section = gps1
<end>

<start laser laserUSB0>
name = front
port_string = /dev/ttyUSB0
angle_offset = 0
x_offset = 0  # in cm
y_offset = 0  # in cm
listen_ipt = false
send_ipt = false
stream_host = localhost # used for streaming
<end>

# This section is automatically called by HServer unless
# specified to use another section with the '-P' option.

<start posecalc posecalc1>
fuser_type = ekf # maxconf, ekf, or pfilter
variance_scheme = dynamic # dynamic or static
compass2mlab_headingFacor = 1.0
#compass2mlab_headingOffset = 185.0 # cartman
compass2mlab_headingOffset = 0 # kenny
#compass_max_valid_angspeed4heading = 0.95 # deg/s
compass_max_valid_angspeed4heading = 1000 # deg/s
gps2mlab_headingFactor = 1.0
gps2mlab_headingOffset = 0
gps_min_valid_transspeed4heading = 0 # m/s
#gps_max_valid_angspeed4heading = 0.95 # deg/s
gps_max_valid_angspeed4heading = 1000.0 # deg/s
<end>

<start posecalc pose2>
fuser_type = pfilter # maxconf, ekf, or pfilter
variance_scheme = dynamic # dynamic or static
<end>
