brix_config:
  brix1:
    address: brix1
    cameras:
    - north_narrow_left
    - north_narrow_right
    enabled: true
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
  brix2:
    address: brix2
    cameras:
    - north_wide_left
    - north_wide_right
    enabled: true
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
  brix3:
    address: brix3
    cameras:
    - west_wide_left
    - west_wide_right
    enabled: true
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
  brix4:
    address: brix4
    cameras:
    - east_wide_left
    - east_wide_right
    enabled: true
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
  brix5:
    address: brix5
    cameras:
    - south_wide_left
    - south_wide_right
    enabled: false
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
  brix6:
    address: brix6
    cameras:
    - south_narrow_left
    - south_narrow_right
    enabled: true
    hal:
      driver: flycap
      format: RAW8
      group_cameras: false
      sync: 'off'
    savepath: /data
    user: zoox
brix_config_version: 1
calibration_date: '2016-06-20'
camera_calibration_date: '2016-06-20'
camera_extrinsics: /home/zoox/driving/bazel-bin/fakeros/fakeros.runfiles/packages/zoox/rcv/urdf/vehicle_specific/kitt_01/cameras_extrinsics_2016-06-20.xml
camera_intrinsics: /etc/zoox/calibration/cameras/latest
camera_yaml: /etc/zoox/calibration/cameras/latest
cameras:
  camera1:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1072.867
    - 1078.331
    - 984.4933
    - 606.8473
    - 0.6854914
    lens: None
    model: fov
    name: north_wide_left
    serial: 16062230
    type: Point Grey Blackfly
  camera10:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1052.083
    - 1053.569
    - 966.7572
    - 629.6644
    - 0.6996334
    lens: None
    model: fov
    name: west_wide_right
    serial: 16062187
    type: Point Grey Blackfly
  camera11:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 0
    - 0
    - 0
    - 0
    - 0
    lens: None
    model: fov
    name: south_narrow_left
    serial: 16080853
    type: Point Grey Blackfly
  camera12:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 0
    - 0
    - 0
    - 0
    - 0
    lens: None
    model: fov
    name: south_narrow_right
    serial: 16080849
    type: Point Grey Blackfly
  camera2:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1066.716
    - 1069.843
    - 971.7044
    - 606.2852
    - 0.6810077
    lens: None
    model: fov
    name: north_wide_right
    serial: 16062180
    type: Point Grey Blackfly
  camera3:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 30.7884
    - 30.81952
    - 764.7951
    - 1715.974
    - 0.003162303
    lens: None
    model: fov
    name: north_narrow_left
    serial: 16080856
    type: Point Grey Chameleon
  camera4:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 15.18587
    - 15.22126
    - 1074.648
    - 656.6406
    - 0.003162285
    lens: None
    model: fov
    name: north_narrow_right
    serial: 16080850
    type: Point Grey Chameleon
  camera5:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1060.139
    - 1061.687
    - 962.8914
    - 611.9066
    - 0.6900258
    lens: None
    model: fov
    name: east_wide_right
    serial: 16062204
    type: Point Grey Blackfly
  camera6:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1071.889
    - 1073.37
    - 967.6988
    - 648.0615
    - 0.6820738
    lens: None
    model: fov
    name: east_wide_left
    serial: 15384271
    type: Point Grey Blackfly
  camera7:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 0
    - 0
    - 0
    - 0
    - 0
    lens: None
    model: fov
    name: south_wide_left
    serial: 15384262
    type: Point Grey Blackfly
  camera8:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 0
    - 0
    - 0
    - 0
    - 0
    lens: None
    model: fov
    name: south_wide_right
    serial: 15187868
    type: Point Grey Blackfly
  camera9:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1064.316
    - 1066.034
    - 990.0776
    - 621.8437
    - 0.6976752
    lens: None
    model: fov
    name: west_wide_left
    serial: 16062231
    type: Point Grey Blackfly
  default_loging_enabled: false
  default_publish_rate: 15
  default_publish_resolution: 640
diagnostic_aggregator:
  analyzers:
    autobox:
      path: Autobox
      startswith: autobox
      type: GenericAnalyzer
    controller:
      path: Controller
      startswith: traj_controller
      type: GenericAnalyzer
    localizer:
      path: Localizer
      startswith: velodyne_localizer
      type: GenericAnalyzer
    perception:
      path: Perception
      startswith: perception
      type: GenericAnalyzer
    planner:
      path: Planner
      startswith: planner
      type: GenericAnalyzer
    power:
      analyzers:
        front_battery:
          find_and_remove_prefix: front/battery
          path: Front Battery
          type: GenericAnalyzer
        power_server:
          path: PowerServer
          startswith: power_server
          type: GenericAnalyzer
        rear_battery:
          find_and_remove_prefix: rear/battery
          path: Rear Battery
          type: GenericAnalyzer
      path: Power
      type: AnalyzerGroup
    sensors:
      analyzers:
        applanix:
          path: Applanix
          startswith: applanix
          type: GenericAnalyzer
        lidars:
          analyzers:
            velodyne1:
              path: Velodyne1
              startswith: driving/velodyne1
              type: GenericAnalyzer
            velodyne2:
              path: Velodyne2
              startswith: driving/velodyne2
              type: GenericAnalyzer
            velodyne3:
              path: Velodyne3
              startswith: driving/velodyne3
              type: GenericAnalyzer
            velodyne4:
              path: Velodyne4
              startswith: driving/velodyne4
              type: GenericAnalyzer
            velodyne5:
              path: Velodyne5
              startswith: driving/velodyne5
              type: GenericAnalyzer
            velodyne6:
              path: Velodyne6
              startswith: driving/velodyne6
              type: GenericAnalyzer
            velodyne7:
              path: Velodyne7
              startswith: driving/velodyne7
              type: GenericAnalyzer
            velodyne8:
              path: Velodyne8
              startswith: driving/velodyne8
              type: GenericAnalyzer
          path: Lidars
          type: AnalyzerGroup
      path: Sensors
      type: AnalyzerGroup
  base_path: ''
  pub_rate: 1.0
driving:
  applanix:
    dmi_panic_in_seconds: 0.2
    gams_panic_in_seconds: 10
    gps_panic_in_seconds: 3
    ip_address: 192.168.3.100
    logging_port: 5603
    network_panic_in_seconds: 0.2
    pose_panic_in_seconds: 0.2
    publish_dmi: true
    remote_port: 5602
    rms_panic_in_seconds: 3
    time_panic_in_seconds: 3
  imagery:
    imagery_root: /home/zoox/imagery
    tiles:
      resolutions:
      - 10
      - 20
      - 40
      sizes:
      - 512
  imagery_root: /home/zoox/imagery
  mofo:
    ip_address: 192.168.0.8
    remote_port: 21
  perception:
    blob_filter:
      adaptive:
        long_distance: 50
        min_n_pts_close_range: 10
        min_n_pts_close_range_dist: 10
        min_n_pts_long_range: 5
        min_n_pts_long_range_dist: 50
      min_footprint: 0
      min_size:
        diag: 0
        z: 0
    classifier: 2015-10-08_classifier-merged-yushi.gc
    classifier_type: subhanet
    do_birds_filtering: true
    do_static_obs_detection: true
    dyn_max_size: 30.0
    dyn_max_size_no_rndf: 5.0
    dyn_moving_max_vel_var: 2.0
    dyn_moving_min_speed: 0.4
    heuristic_params:
      min_classifier_observations_before_dynobs_message: 3
      min_tracker_observations_before_dynamic: 2
      rot_stdev_degrees: 5.0
      twist_stdev_degrees_per_second: 10.0
    max_distance_to_lane: 2
    rndf_filt:
      lane_dist_grid:
        radius: 50
        resolution: 0.3
      lanes_img:
        n_bands_per_lane: 7
        resolution: 0.3
        size: 200
        threshold: 0.33
    spin_loader:
      car_bb_max:
        x: 1.9
        y: 1.3
        z: 2.0
      car_bb_min:
        x: -2.1
        y: -1.3
        z: -0.3
      filter_inner_beams: true
      filter_points_on_car: true
      preferred_main_velodyne: velodyne1
    static_obs_blind_spot_rad: 0
    static_obs_grid:
      resolution: 0.1
      size: 80
      static_cells:
        decay: -0.5
        hit_bound_max: 20
        hit_bound_min: 0
        obs: 1
        thresh: 15
    subhanet:
      caffedef: params.prototxt
      caffemodel: params.caffemodel
      class_map_file: params.classes
      dummy_confidence_value: 1.0
      meanstd: params.meanstd
      track_decay: 0.9
    tracking:
      centroid:
        initial_position_variance: 0.1
        initial_velocity_variance: 50
        measurement_variance: 0.1
        multitracker:
          correspondence_thresh: 0.01
          pruning_thresh: 1.0
        position_variance: 1.0
        velocity_variance: 1.0
      multitracker:
        correspondence_thresh: 0.01
        multi_obs: true
        multi_obs_max_radius: 6.0
        pruning_thresh: 0.05
        selective_track_init: true
        spawn_close_to_lane_dist: 5.0
        spawn_close_to_veh_dist: 0.0
        spawn_max_dist_factor: 1.25
        spawn_max_join_dist: 0.5
        spawn_max_radius: 5.0
        spawn_very_close_to_lane_dist: 1.0
        two_consecutive_obs_required: false
        vel_lane_prior_scale: 0.02
      obb:
        canonicalize_orientation_min_vel: 0.25
        initial_variance_center: 0.1
        initial_variance_extent: 0.1
        initial_variance_velocity_center: 50
        initial_variance_velocity_yaw: 0.0001
        initial_variance_yaw: 3.141
        log_space_extent: false
        measurement_cov_z_scale: 0.01
        measurement_variance_center: 0.25
        measurement_variance_extent: 6.0
        measurement_variance_yaw: 0.2
        motion_variance_center: 0.1
        motion_variance_extent: 5.0
        motion_variance_velocity_center: 1.0
        motion_variance_velocity_yaw: 0.01
        motion_variance_yaw: 0.2
        multitracker:
          correspondence_thresh: 0.01
          pruning_thresh: 0.25
          two_consecutive_obs_required: true
        use_bbox_eigen_axis: false
      precision:
        initial_position_variance: 0.1
        initial_velocity_variance: 30
        multitracker:
          correspondence_thresh: 0.01
          pruning_thresh: 10
      tracker_type: obb
      use_bbox_eigen_axis: false
    use_lidar: true
    use_radar: false
    use_vision: false
  planner_cycle_time: 0.15
  traj_ctrler:
    a_no_applanix: -3.0
    a_no_dynamics: -2.0
    a_no_traj: -2.0
    applanix_freq: 50.0
    controller_type: purepursuit
    curve_lookahead: 0.2
    extrapolate_lookahead: true
    loop_freq: 50
    max_steering_angle_ref: 0.61
    pid:
      d_cte: 0
      k_aggressive: 0
      k_heading_err: 1
      k_tracking: 1
      k_yawrate: 0
      p_cte: 2
      p_lon: 0
    purepursuit:
      L1_values:
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      - 2.5
      alpha_max: 0.9
      k_variable_values:
      - 1.0
      - 1.0
      - 1.0
      k_yawratetraj_values:
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      l_offset_values:
      - 2.0
      - 2.0
      - 3.0
      - 5.0
      - 7.0
      - 8.0
      - 10.0
      - 12.0
      - 15.0
      max_steering_rate_values:
      - 0.3
      - 0.4
      - 0.5
      - 0.5
      - 0.5
      - 0.5
      - 0.5
      - 0.5
      - 0.5
      nu_axis:
      - 0.0
      - 0.1
      - 0.3
      scale_k_values:
      - 1.0
      - 1.0
      - 0.0
      tau_steering_filter: 0.01
      vel_axis:
      - 1.7
      - 2.5
      - 5.0
      - 6.7
      - 9.0
      - 11.2
      - 15.0
      - 20.0
      - 30.0
    time_controlled: false
    tracking_lookahead: 1.5
  vehicle:
    dbw:
      max_steering: 35
    dimensions:
      FA_to_front_bumper: 1.03
      IMU_to_CG: 0.0
      IMU_to_FA: 2.79
      IMU_to_rear_bumper: 1.1
      applanix_origin_height: 0.3702
      axle_to_origin_height: 0.37
      clearance_level: 2.4
      length: 4.86
      virtual_velodyne_offset:
        pitch: 0.0
        roll: 0.0
        x: 1.5
        y: 0.0
        yaw: 3.14
        z: 1.52
      wheel_base: 2.79
      wheel_track: 1.65
      width: 2.14
    dynamic_parameters:
      max_steering_rate: 80
      steering_ratio: 1
  velodyne1:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.50
      frame_id: velodyne1
      model: VLP16-hires
      npackets: 20
      port: 2370
      telem_port: 8310
  velodyne2:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.51
      frame_id: velodyne2
      model: VLP16-hires
      npackets: 20
      port: 2371
      telem_port: 8311
  velodyne3:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.52
      frame_id: velodyne3
      model: VLP16
      npackets: 20
      port: 2372
      telem_port: 8312
  velodyne4:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.53
      frame_id: velodyne4
      model: VLP16
      npackets: 20
      port: 2373
      telem_port: 8313
  velodyne5:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.54
      frame_id: velodyne5
      model: VLP16-hires
      npackets: 20
      port: 2374
      telem_port: 8314
  velodyne6:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.55
      frame_id: velodyne6
      model: VLP16-hires
      npackets: 20
      port: 2375
      telem_port: 8315
  velodyne7:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.56
      frame_id: velodyne7
      model: VLP16
      npackets: 20
      port: 2376
      telem_port: 8316
  velodyne8:
    aggregator_node:
      encoder_start: 18000
      keep_ratio: 1.0
      spin_fraction: 1.0
      target_frame: ''
    driver_node:
      device_ip: 192.168.3.57
      frame_id: velodyne8
      model: VLP16
      npackets: 20
      port: 2377
      telem_port: 8317
gps:
  baud: 9600
  port: /dev/gps_in
llc_driver:
  can_interface_ai: can0
  can_interface_chassis: can1
  send_can_msgs: true
rcv_state_publisher:
  use_tf_static: true
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /home/zoox/driving/bazel-bin/fakeros/fakeros.runfiles/packages/zoox/rcv/urdf/rcv.xml\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"rcv\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n  <link\
  \ name=\"base_link\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
  package://rcv/models/v2/highlander_stylized/base.dae\" scale=\"1 1 1\"/>\n     \
  \ </geometry>\n      <material name=\"black\">\n        <color rgba=\"1 1 1 1\"\
  />\n      </material>\n    </visual>\n    <visual>\n      <origin rpy=\"0.033305386\
  \ 0.092236895 2.564173257\" xyz=\"-0.406911165 0.565154195 1.470999956\"/>\n   \
  \   <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.002274576 0.071037850 -2.342146315\" xyz=\"-0.410813868 -0.559901118\
  \ 1.453999758\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.029824061 0.206325143 2.493888441\" xyz=\"-0.974999964 0.827999890 0.631999910\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.012356411 0.174351714 -2.469795355\" xyz=\"-0.970587015 -0.799925268 0.597999632\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.042434280 0.121517477 1.083048893\" xyz=\"1.793718696 0.684098840 1.389999986\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.050690479 0.078096658 -1.312100054\" xyz=\"1.780735493 -0.681257248 1.380999923\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"0.026646491 -0.056768325 0.982962971\" xyz=\"3.370716095 0.922509015 0.457999855\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.012991277 -0.005875320 -0.918261473\" xyz=\"3.350789070 -0.920280278\
  \ 0.448000312\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!-- wheel_base\
  \ -->\n  <link name=\"wheel_base_LF\"/>\n  <joint name=\"wheel_base_LF_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"wheel_base_LF\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"2.79                0.825                0.0\"\
  />\n  </joint>\n  <!-- Knuckle -->\n  <link name=\"knuckle_LF\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
  package://rcv/models/v2/highlander_stylized/knuckle.dae\" scale=\"1 1 1\"/>\n  \
  \    </geometry>\n    </visual>\n  </link>\n  <joint name=\"knuckle_LF_joint\" type=\"\
  revolute\">\n    <parent link=\"wheel_base_LF\"/>\n    <child link=\"knuckle_LF\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"0 0 1\"/>\n    <limit\
  \ effort=\"1000.0\" lower=\"-0.6109\" upper=\"0.6109\" velocity=\"10\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LF\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LF\"/>\n    <child\
  \ link=\"wheel_LF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RF\"/>\n\
  \  <joint name=\"wheel_base_RF_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"2.79  \
  \              -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n \
  \ <link name=\"knuckle_RF\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0\
  \ 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RF_joint\" type=\"revolute\">\n    <parent link=\"wheel_base_RF\"/>\n  \
  \  <child link=\"knuckle_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n   \
  \ <axis xyz=\"0 0 1\"/>\n    <limit effort=\"1000.0\" lower=\"-0.6109\" upper=\"\
  0.6109\" velocity=\"10\"/>\n  </joint>\n  <!-- Wheel -->\n  <link name=\"wheel_RF\"\
  >\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n\
  \        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RF\"/>\n    <child\
  \ link=\"wheel_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_LR\"/>\n\
  \  <joint name=\"wheel_base_LR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_LR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_LR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_LR\"/>\n    <child\
  \ link=\"knuckle_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LR\"/>\n    <child\
  \ link=\"wheel_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RR\"/>\n\
  \  <joint name=\"wheel_base_RR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_RR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_RR\"/>\n    <child\
  \ link=\"knuckle_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_RR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RR\"/>\n    <child\
  \ link=\"wheel_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <link name=\"base_link_ground\"/>\n  <joint name=\"base_link_ground_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"base_link_ground\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0       0       -0.3702\"/>\n  </joint>\n  <!--\
  \ virtual velodyne -->\n  <link name=\"virtual_velodyne\"/>\n  <joint name=\"virtual_velodyne_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"virtual_velodyne\"\
  />\n    <origin rpy=\"0.0                  0.0                  3.14\" xyz=\"1.5\
  \                  0.0                  1.52\"/>\n  </joint>\n  <link name=\"velodyne1\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne1_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne1\"/>\n    <origin rpy=\"0.033305386 0.092236895 2.564173257\"\
  \ xyz=\"-0.406911165 0.565154195 1.470999956\"/>\n  </joint>\n  <link name=\"velodyne2\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne2_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne2\"/>\n    <origin rpy=\"-0.002274576 0.071037850\
  \ -2.342146315\" xyz=\"-0.410813868 -0.559901118 1.453999758\"/>\n  </joint>\n \
  \ <link name=\"velodyne3\">\n    <!-- Moved puck <visual> and <mesh> to /base_link\
  \ above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne3_joint\" type=\"fixed\"\
  >\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne3\"/>\n    <origin\
  \ rpy=\"-0.029824061 0.206325143 2.493888441\" xyz=\"-0.974999964 0.827999890 0.631999910\"\
  />\n  </joint>\n  <link name=\"velodyne4\">\n    <!-- Moved puck <visual> and <mesh>\
  \ to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne4_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne4\"\
  />\n    <origin rpy=\"0.012356411 0.174351714 -2.469795355\" xyz=\"-0.970587015\
  \ -0.799925268 0.597999632\"/>\n  </joint>\n  <link name=\"velodyne5\">\n    <!--\
  \ Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n \
  \ <joint name=\"velodyne5_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne5\"/>\n    <origin rpy=\"0.042434280 0.121517477 1.083048893\"\
  \ xyz=\"1.793718696 0.684098840 1.389999986\"/>\n  </joint>\n  <link name=\"velodyne6\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne6_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne6\"/>\n    <origin rpy=\"-0.050690479 0.078096658\
  \ -1.312100054\" xyz=\"1.780735493 -0.681257248 1.380999923\"/>\n  </joint>\n  <link\
  \ name=\"velodyne7\">\n    <!-- Moved puck <visual> and <mesh> to /base_link above\
  \ TOOL-737 -->\n  </link>\n  <joint name=\"velodyne7_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"velodyne7\"/>\n    <origin rpy=\"\
  0.026646491 -0.056768325 0.982962971\" xyz=\"3.370716095 0.922509015 0.457999855\"\
  />\n  </joint>\n  <link name=\"velodyne8\">\n    <!-- Moved puck <visual> and <mesh>\
  \ to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne8_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne8\"\
  />\n    <origin rpy=\"-0.012991277 -0.005875320 -0.918261473\" xyz=\"3.350789070\
  \ -0.920280278 0.448000312\"/>\n  </joint>\n  <link name=\"camera6\"/>\n  <joint\
  \ name=\"camera6_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n   \
  \ <child link=\"camera6\"/>\n    <origin rpy=\"-0.0462270168461 0.259161691591 -1.5943448592\"\
  \ xyz=\"1.71886241469 -0.711379477142 1.23909104577\"/>\n  </joint>\n  <link name=\"\
  camera5\"/>\n  <joint name=\"camera5_joint\" type=\"fixed\">\n    <parent link=\"\
  base_link\"/>\n    <child link=\"camera5\"/>\n    <origin rpy=\"-0.0504476965243\
  \ 0.183861262881 -1.63942317221\" xyz=\"-0.377391058645 -0.597895248163 1.34877921168\"\
  />\n  </joint>\n  <link name=\"camera3\"/>\n  <joint name=\"camera3_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera3\"/>\n    <origin\
  \ rpy=\"-0.216551104039 0.042878710875 -0.243970431576\" xyz=\"1.63160278122 0.239386044822\
  \ 1.32361523716\"/>\n  </joint>\n  <link name=\"camera4\"/>\n  <joint name=\"camera4_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera4\"\
  />\n    <origin rpy=\"-0.0223628854609 0.122797042246 0.071143347349\" xyz=\"1.87193030221\
  \ -0.271158264484 1.25255788242\"/>\n  </joint>\n  <link name=\"camera1\"/>\n  <joint\
  \ name=\"camera1_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n   \
  \ <child link=\"camera1\"/>\n    <origin rpy=\"-0.0227324015712 0.20424154856 -0.0760754821551\"\
  \ xyz=\"1.84982272099 0.646643695749 1.32955984802\"/>\n  </joint>\n  <link name=\"\
  camera2\"/>\n  <joint name=\"camera2_joint\" type=\"fixed\">\n    <parent link=\"\
  base_link\"/>\n    <child link=\"camera2\"/>\n    <origin rpy=\"0.0348438418874\
  \ 0.259542181398 -0.0746165495736\" xyz=\"1.83425077899 -0.611758940052 1.30930228925\"\
  />\n  </joint>\n  <link name=\"camera9\"/>\n  <joint name=\"camera9_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera9\"/>\n    <origin\
  \ rpy=\"0.0214162829838 0.220938821352 1.56360498687\" xyz=\"-0.338850560883 0.604311600619\
  \ 1.3693691845\"/>\n  </joint>\n  <link name=\"camera10\"/>\n  <joint name=\"camera10_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera10\"\
  />\n    <origin rpy=\"0.0511910170912 0.215297645179 1.6409246227\" xyz=\"1.73090120025\
  \ 0.70819670842 1.28653082765\"/>\n  </joint>\n  <!-- Horn 2.0 -->\n  <link name=\"\
  front_horn\"/>\n  <joint name=\"front_horn_joint\" type=\"fixed\">\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"front_horn\"/>\n    <origin rpy=\"0 0\
  \ -1.57\" xyz=\"1.5 0 1\"/>\n  </joint>\n  <link name=\"radar_front\"/>\n  <joint\
  \ name=\"radar_front_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n\
  \    <child link=\"radar_front\"/>\n    <origin rpy=\"0 0 .03\" xyz=\"1.5 0 0\"\
  />\n  </joint>\n  <link name=\"radar_left\"/>\n  <joint name=\"radar_left_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"radar_left\"\
  />\n    <origin rpy=\"0 0 1.5708\" xyz=\"0 .5 0\"/>\n  </joint>\n  <link name=\"\
  radar_right\"/>\n  <joint name=\"radar_right_joint\" type=\"fixed\">\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"radar_right\"/>\n    <origin rpy=\"0 0\
  \ -1.5708\" xyz=\"0 -.5 0\"/>\n  </joint>\n</robot>\n\n"
robot_name: kitt_01
rosdistro: 'indigo

  '
roslaunch:
  uris:
    host_drc_kitt01__36549: http://drc-kitt01:36549/
    host_drc_kitt01__39843: http://drc-kitt01:39843/
    host_drc_kitt01__41870: http://drc-kitt01:41870/
    host_drc_kitt01__41956: http://drc-kitt01:41956/
rosversion: '1.11.15

  '
run_id: 2e9ae066-3d48-11e6-a594-d05099867661
session_metadata:
  artifacts:
    456d0576_3fdd_494b_b926_1e63001689cc:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: notes.bag
      metadata: ''
    54c32747_fa49_49c4_a3ca_48051fcd52c3:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: radar.bag
      metadata: ''
    7e1c2860_2efc_4d7f_976f_ebbc66a587d8:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: tar.gz
      metadata: ''
    bed0537f_6d51_4d09_8e4c_8377228c4095:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: applanix.bag
      metadata: ''
    cf4a81eb_7a21_4828_aa39_6b420ea49c12:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: bag
      metadata: ''
    d788e5af_924c_460c_8da1_a4332ac196e4:
      artifact_version: 0.0.1
      chunk_count: 1
      chunk_enabled: false
      drive_id: /media/zoox/zooxdata-190
      extension: velodyne.bag
      metadata: ''
  log_id: 3666a83a_aeb3_457b_ab1b_f0b975afdc3d
  time:
    nsecs: 889802932
    secs: 1467129633
use_sim_time: false
