example.yaml

name: Example


launch_args:
    ctd: aml
    log_dir: /mnt/data/roslogs/
    rosbag_prefix: /mnt/data/rosbags/phyto-arm
    winch: false


alerts:
    # You can post alert messages to Slack by creating an Incoming Webhook for your channel:
    # - type: slack
    #   url: https://hooks.slack.com/services/...


# Node-specific configuration

gps:
    host: "172.17.0.1"

conductor:
    range:
        min:  0.5  # m
        max:  2.0  # m

    # TODO: Currently unimplemented
    speed:
        transit: 0.02  # m/s
        profile: 0.02  # m/s

    # Minimum level of the profiled sensor data to trigger a sample at depth
    threshold: 0.0

    # Interval at which we run a bead sample for maintenance
    bead_interval: 1440  # minutes

    # Scheduled depths are sampled once per time interval, or when the profile
    # data does not exceed the configured threshold above.
    #
    # Note: Adjusting the scheduled depths after the node has started may resume
    # from an arbitrary point in the new schedule.
    schedule:
        every: 60  # minutes, 0 = never
        range:
            first: 0.5  # m
            last:  2.0  # m
            count: 4

profiler:
    resolution: 0.02  # m
    data_topic: "/ctd/aml/port5/phycoerythrin"
    data_field: "value"

ctd_comms:
    connection:
        type: "SERIAL"
        port: "/dev/ttyTHS0"
        baud: 115200
        data_bits: 8

ifcb:
    address: "172.17.0.1"
    port: 8092
    serial: "111-111-111"
    routines_dir: "/routines"
    # This path is interpreted by IFCBacquire, which may be in another
    # container or namespace.
    data_dir: "/mnt/data/ifcbdata"

motor:
    address: "192.168.13.3"
    port: 502
    refresh_rate: 1  # hz
    counts_per_turn: 8192  # defined in manual p.9

camera:
    # Raymarine CAM220IP defaults
    video_stream_url: "rtsp://admin:1234@192.168.13.30/h264"

winch:
    # TODO: Almost none of these values are used yet!

    # The spool circumference is needed for an initial estimate of speed
    spool_circumference: 0.6604  # m

    gear_ratio: 60

    max_speed:  0.02  # m/s
    acceleration:  1  # m/s^2

    # Distance from target at which we will reduce speed by half. This controls
    # the sharpness of our velocity function. A smaller number produces a more
    # abrupt stop.
    half_speed_dist: 0.05  # m

    # Distance from the target at which we are close enough to stop.
    epsilon: 0.01  # m

    safety_envelopes:
        time:
            extra_pct: 10.0
            extra_sec: 10.0
        position: 0.1  # meters