sample_config.json

{
  "modules": [
    {
      "type": "local",
      "name": "ros2",
      "executable_path": "/home/ubuntu/viam-ros2-module/run.sh"
    },
    {
      "executable_path": "/usr/local/bin/cartographer-module",
      "type": "local",
      "name": "cartographer-module"
    }
  ],
  "services": [
    {
      "type": "slam",
      "model": "viam:slam:cartographer",
      "attributes": {
        "config_params": {
          "mode": "2d"
        },
        "data_dir": "/root/cdir",
        "sensors": [
          "lidar"
        ]
      },
      "name": "slam"
    },
    {
      "name": "datacapture",
      "type": "data_manager",
      "attributes": {
        "capture_dir": "",
        "tags": [
          "ros2"
        ],
        "additional_sync_paths": [
          "/opt/rosbags"
        ],
        "sync_interval_mins": 5
      }
    },
    {
      "type": "shell",
      "attributes": {},
      "name": "shell"
    }
  ],
  "components": [
    {
      "name": "rosbase",
      "type": "base",
      "model": "viamlabs:ros2:base",
      "attributes": {
        "ros_topic": "/cmd_vel",
        "publish_rate": "0.2"
      },
      "depends_on": []
    },
    {
      "depends_on": [],
      "name": "imu",
      "type": "movement_sensor",
      "model": "viamlabs:ros2:imu",
      "attributes": {
        "ros_topic": "/imu"
      }
    },
    {
      "model": "viamlabs:ros2:lidar",
      "attributes": {
        "ros_topic": "/scan"
      },
      "depends_on": [],
      "name": "lidar",
      "type": "camera"
    },
    {
      "depends_on": [],
      "name": "sensor",
      "type": "sensor",
      "model": "viamlabs:ros2:sensor",
      "attributes": {
        "ros_msg_type": "HazardDetectionVector",
        "ros_topic": "/hazard_detection"
      }
    }
  ],
  "network": {
    "bind_address": ":9090"
  }
}