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ed_params_k8s_rule.yaml
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/
ed_params_k8s_rule.yaml
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event_detector:
ros__parameters:
# use_sim_time: true
buffer:
default_time: 30.0
default_queue_size: 20
use_msg_stamp: true
clients:
- client0
- client1
- client2
- client3
- client4
- client5
- client6
- client7
- client8
- client9
- client10
- client11
- client12
- client13
- client14
client_params:
client0:
tf_prefix: vehicles/vehicle_00 # client-specific prefix of frames found in dynamic transforms
client_data_list:
- pointcloud
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_00/pose
pointcloud:
- topic: /clients/vehicles/vehicle_00/lidar_center/pointcloud
client1:
tf_prefix: vehicles/vehicle_01 # client-specific prefix of frames found in dynamic transforms
client_data_list:
- pointcloud
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_01/pose
pointcloud:
- topic: /clients/vehicles/vehicle_01/lidar_center/pointcloud
client2:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_02/pose
client3:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_03/pose
client4:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_04/pose
client5:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_05/pose
client6:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_06/pose
client7:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_07/pose
client8:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_08/pose
client9:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_09/pose
client10:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_10/pose
client11:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_11/pose
client12:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_12/pose
client13:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_13/pose
client14:
client_data_list:
- pose
data:
pose:
- topic: /clients/vehicles/vehicle_14/pose
analysis:
default_period: 1.0
rules:
event_detector_operator_plugin::ProximityBasedDeploymentRule:
enabled: true
parameters:
max_distance_to_start_deployment: 150.0
min_distance_to_stop_deployment: 200.0