camera:
  focal_length_x: 433.163222
  focal_length_y: 432.242129
  image_raw:
    compressed: {format: jpeg, jpeg_quality: 80, png_level: 9}
    theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
  optical_center_x: 641.712646
  optical_center_y: 110.450439
  r11: 0.0134327
  r12: -0.999828
  r13: 0.0127993
  r21: -0.196893
  r22: -0.0151947
  r23: -0.980307
  r31: 0.980333
  r32: 0.010648
  r33: -0.197063
  t1: -0.845934
  t2: 286.511
  t3: -53.0862
car_specs: {mass: 4.8, max_steering_angle_left: 0.416, max_steering_angle_right: 0.4,
  tire_radius: 0.0352, track: 0.1624, vehicle_width: 0.205, wheelbase: 0.245}
common:
  diagnostic_aggregator:
    analyzers:
      communication: {find_and_remove_prefix: controller_interface, path: ControllerInterface,
        type: GenericAnalyzer}
      controller: {find_and_remove_prefix: arduino, path: Arduino, type: GenericAnalyzer}
      system:
        analyzers:
          system_monitor: {find_and_remove_prefix: common/system_monitor, path: SystemMonitor,
            remove_prefix: common system_monitor, type: GenericAnalyzer}
          time_sync_check: {find_and_remove_prefix: time_sync_check_client, path: Time,
            type: GenericAnalyzer}
        path: System
        type: AnalyzerGroup
    base_path: ''
    pub_rate: 1.0
control:
  high_level_controller:
    a_krit: 3.0
    acc: {constant_time_gap: 1.0, distance_time_constant: 1.0}
    default:
      a_krit: 0
      acc: {constant_time_gap: 0, distance_time_constant: 0}
      dist_k: 1.973
      epsilon_division_by_zero: 0.001
      epsilon_newton_method: 0.01
      k_ag: 0.02
      lookahead_cc_t: 0.15
      lookahead_deceleration: 0.4
      lookahead_delta: 0.15569
      max_acc: 3.0
      max_dec: 100.0
      min_lateral_control_speed: 0.04
      stepsize: 0.01
      stopping_controller: {stopping_completion_threshold_speed: 0.02, stopping_deceleration: 2.0,
        stopping_radius: 0.04}
      v_extrapolation: 4.0
      v_max_cc: 0
      v_min_abs: 0.16
      v_min_cc: 0
    dist_k: 2.5
    epsilon_division_by_zero: 0.001
    epsilon_newton_method: 0.01
    free_ride_mode: {a_krit: 2.0, dist_k: 2.54374, lookahead_deceleration: 0.4, max_acc: 5.0,
      v_max_cc: 4.0, v_min_cc: 1.8}
    k_ag: 0.02
    lookahead_cc_t: 0.15
    lookahead_deceleration: 0.4
    lookahead_delta: 0.15569
    max_acc: 3.0
    max_dec: 100.0
    min_lateral_control_speed: 0.04
    obstacle_mode:
      a_krit: 3.0
      acc: {constant_time_gap: 1, distance_time_constant: 1}
      dist_k: 2.5
      lookahead_deceleration: 0.4
      v_max_cc: 2.5
      v_min_cc: 1.0
    parking_mode: {a_krit: 1.042, dist_k: 1.688, lookahead_delta: 0.173, lookahead_v: 0.5,
      v_max: 1.0, v_min: 0.6, v_min_abs: 0.04}
    start_activated: false
    stepsize: 0.01
    stopping_controller: {stopping_completion_threshold_speed: 0.02, stopping_deceleration: 2.0,
      stopping_radius: 0.04}
    v_extrapolation: 4.0
    v_max_cc: 2.5
    v_min_abs: 0.16
    v_min_cc: 1.0
  speed_controller:
    brake_output_scaling: 2.0
    d_speed: 0.0
    deceleration_output_scaling: 1.0
    deceleration_threshold: 0.1
    default:
      brake_output_scaling: 2.0
      d_speed: 0
      deceleration_output_scaling: 1.0
      deceleration_threshold: 0.1
      emergency_brake: {emergency_brake_value: 1.0}
      feed_forward_a: 0
      feed_forward_b: 0
      feed_forward_c: 0
      i_max: 1
      i_min: -1
      i_speed: 1
      p_speed: 0.5
      use_antiwindup: true
      use_brake: false
    emergency_brake: {emergency_brake_value: 1.0}
    feed_forward_a: 0.0
    feed_forward_b: 0.0
    feed_forward_c: 0.0
    free_ride_mode: {brake_output_scaling: 15, d_speed: 0, deceleration_threshold: 0.4,
      i_max: 1.0, i_min: -1.0, i_speed: 0.2, p_speed: 1.4, use_brake: true}
    i_max: 1.0
    i_min: -10.0
    i_speed: 20.0
    obstacle_mode: {d_speed: 0, deceleration_output_scaling: 1.0, i_max: 1, i_min: -10,
      i_speed: 20, p_speed: 0.2, use_brake: false}
    p_speed: 0.2
    parking_mode: {i_speed: 3.0, p_speed: 1.3}
    start_activated: false
    use_antiwindup: true
    use_brake: false
  steering_controller:
    d_steering: 0.0
    default: {d_steering: 0.0, feed_forward_a: 0.4747, feed_forward_b: 0.8565, feed_forward_c: -0.0161,
      feed_forward_d: 0.3176, i_max: 0.5, i_min: -0.5, i_steering: 0.16752, min_absolute_velocity: 0.01,
      p_steering: 0.19035, use_antiwindup: true}
    feed_forward_a: 0.4747
    feed_forward_b: 0.8565
    feed_forward_c: -0.0161
    feed_forward_d: 0.3176
    i_max: 0.5
    i_min: -0.5
    i_steering: 0.16752
    min_absolute_velocity: 0.01
    p_steering: 0.19035
    parking_mode: {d_steering: 0, i_steering: 6, p_steering: 1.3}
    start_activated: false
    use_antiwindup: true
controller_interface:
  controller_interface:
    arduino_boot_wait: 10000000
    baud_rate: 921600
    default: {arduino_boot_wait: 10000000, baud_rate: 921600, enable_runtime_analyzer: false,
      serial_buffer_size: 63, serial_port: /dev/ttyACM0, serial_read_timeout: 2000000,
      write_to_shared_memory: true}
    enable_runtime_analyzer: false
    serial_buffer_size: 63
    serial_port: /dev/ttyACM0
    serial_read_timeout: 2000000
    start_activated: false
    write_to_shared_memory: true
default:
  camera: {focal_length_x: 433.163222, focal_length_y: 432.242129, optical_center_x: 641.712646,
    optical_center_y: 110.450439, r11: 0.0134327, r12: -0.999828, r13: 0.0127993,
    r21: -0.196893, r22: -0.0151947, r23: -0.980307, r31: 0.980333, r32: 0.010648,
    r33: -0.197063, t1: -0.845934, t2: 286.511, t3: -53.0862}
  car_specs: {distance_cog_front: 0.12, distance_cog_rear: 0.125, distance_to_front_bumper: 0.3,
    distance_to_rear_bumper: 0.05, mass: 4.8, max_steering_angle_left: 0.416, max_steering_angle_right: 0.4,
    moment_of_inertia: 0.072, tire_radius: 0.0352, tire_stiffness_front: 0.0016, tire_stiffness_rear: 0.002,
    track: 0.1624, vehicle_width: 0.205, wheelbase: 0.245}
  tf_static:
    vehicle_to_ir_back: {pitch: 0, roll: 0, x: 0, y: -0.086, yaw: -1.570796327, z: 0.115}
    vehicle_to_ir_front: {pitch: 0, roll: 0, x: 0.183, y: -0.092, yaw: -1.570796327,
      z: 0.06}
mission_control:
  mission_controller:
    active_modules: [/common/fitness_monitor, /perception/preprocessing, /perception/road_watcher,
      /perception/lane_detection, /perception/feature_line_detection, /control/high_level_controller,
      /navigation/path_preprocessing, /navigation/path_planning, /perception/obstacle_tracking,
      /navigation/collision_detection, /navigation/blinker, /navigation/intersection_handler,
      /state_estimation/state_estimation, /navigation/localization, /control/steering_controller,
      /control/speed_controller]
    all_modules: [/control/speed_controller, /control/steering_controller, /controller_interface/controller_interface,
      /common/system_monitor, /common/fitness_monitor, /perception/preprocessing,
      /perception/road_watcher, /perception/lane_detection, /perception/feature_line_detection,
      /control/high_level_controller, /navigation/path_preprocessing, /navigation/path_planning,
      /perception/obstacle_tracking, /perception/object_detection, /navigation/collision_detection,
      /navigation/intersection_handler, /navigation/blinker, /state_estimation/state_estimation,
      /navigation/localization, /perception/parkinglot_mapping]
    default:
      active_modules: [/state_estimation/state_estimation, /navigation/localization]
      all_modules: [/control/speed_controller, /control/steering_controller, /controller_interface/controller_interface,
        /common/system_monitor, /common/fitness_monitor, /perception/preprocessing,
        /perception/road_watcher, /perception/lane_detection, /perception/feature_line_detection,
        /control/high_level_controller, /navigation/path_preprocessing, /navigation/path_planning,
        /perception/obstacle_tracking, /perception/object_detection, /navigation/collision_detection,
        /navigation/intersection_handler, /navigation/blinker, /state_estimation/state_estimation,
        /navigation/localization, /perception/parkinglot_mapping]
      persistent_modules: [/common/system_monitor, /controller_interface/controller_interface]
      service_call_timeout: 0.1
    free_ride_mode:
      active_modules: [/common/fitness_monitor, /perception/preprocessing, /perception/lane_detection,
        /perception/feature_line_detection, /control/high_level_controller, /navigation/path_preprocessing,
        /navigation/collision_detection, /navigation/path_planning, /state_estimation/state_estimation,
        /navigation/localization, /control/steering_controller, /control/speed_controller]
    obstacle_mode:
      active_modules: [/common/fitness_monitor, /perception/preprocessing, /perception/road_watcher,
        /perception/lane_detection, /perception/feature_line_detection, /control/high_level_controller,
        /navigation/path_preprocessing, /navigation/path_planning, /perception/obstacle_tracking,
        /navigation/collision_detection, /navigation/blinker, /navigation/intersection_handler,
        /state_estimation/state_estimation, /navigation/localization, /control/steering_controller,
        /control/speed_controller]
    parking_mode:
      active_modules: [/perception/preprocessing, /perception/lane_detection, /control/high_level_controller,
        /navigation/path_preprocessing, /navigation/path_planning, /navigation/collision_detection,
        /state_estimation/state_estimation, /navigation/localization, /control/steering_controller,
        /control/speed_controller, /perception/parkinglot_mapping]
    persistent_modules: [/common/system_monitor, /controller_interface/controller_interface]
    service_call_timeout: 0.1
navigation:
  blinker: {start_activated: false}
  collision_detection:
    avoid_obstacles: true
    block_left_lane: true
    default: {avoid_obstacles: false, block_left_lane: true, gate_safety_margin: 0.0,
      large_shrink_distance_for_warnings: 1.0, left_lane_block_distance_behind_obstacle: 1.5,
      left_lane_block_distance_in_front_of_obstacle: 1.0, obstacle_safety_margin: 0.0,
      vehicle_safety_front_margin: 0.0, vehicle_safety_rear_margin: 0.15, vehicle_safety_width_margin: 0.03}
    distance_to_front_bumper: 0.3
    distance_to_rear_bumper: 0.05
    gate_safety_margin: 0.0
    large_shrink_distance_for_warnings: 1.0
    left_lane_block_distance: 0.1
    left_lane_block_distance_behind_obstacle: 1.5
    left_lane_block_distance_in_front_of_obstacle: 1.0
    obstacle_mode: {avoid_obstacles: true}
    obstacle_safety_margin: 0.0
    start_activated: false
    vehicle_safety_front_margin: 0.0
    vehicle_safety_margin: 0.0
    vehicle_safety_rear_margin: 0.15
    vehicle_safety_width_margin: 0.03
    vehicle_width: 0.205
  find_parking_slot: {max_ramp_y_diff: 0.02f, max_slot_size: 0.58, min_obstacle_len: 0.05f,
    min_slot_size: 0.5, path_offset: -0.5, start_ignore_distance: 0.5, v_max: 0.8}
  intersection_handler:
    area_of_interest: {x_max: 0.8, x_min: -0.2, y_max: 0.5, y_min: -0.2}
    default:
      area_of_interest: {x_max: 0.8, x_min: -0.2, y_max: 0.5, y_min: -0.2}
      intersection_length: 0.82
      max_time_waiting_at_stopline: 15
      min_time_waiting_after_obstacles_disappear: 0.1
      min_time_waiting_at_stopline: 3.0
      stop_at_this_distance: 0.16
      stopline_memory_duration: 3.0
    intersection_length: 0.82
    max_time_waiting_at_stopline: 15.0
    min_time_waiting_after_obstacles_disappear: 0.1
    min_time_waiting_at_stopline: 3.0
    start_activated: false
    stop_at_this_distance: 0.16
    stopline_memory_duration: 3.0
  localization:
    default: {initial_x: 0, initial_y: 0, initial_yaw: 0, max_time_between_two_mesurements: 4}
    initial_x: 0.0
    initial_y: 0.0
    initial_yaw: 0.0
    max_time_between_two_mesurements: 4.0
    start_activated: false
  parking: {end_angle_offset: 0.0, max_speed: 0.3, max_steering_angle: 1, max_turn_radius_l: 0.565,
    max_turn_radius_r: 0.6225, wait_between_turns: 500}
  path_planning:
    default: {end_lane_change_distance: 0.2, lane_width: 0.4, lsq_angle_weight: 1.5,
      lsq_center_value: 0.5, lsq_center_weight: 0.3, lsq_distance_weight: 7.0, lsq_endpoint_angle_weight: 1.5,
      lsq_prefered_point_weight: 0.0, path_polynomial_degree: 3, signal_distance_before_lane_change: 0.5,
      start_lane_change_distance: 0.8, use_path_smoothing: false}
    distance_to_front_bumper: 0.3
    distance_to_rear_bumper: 0.05
    end_lane_change_distance: 0.2
    free_ride_mode: {lsq_center_weight: 0.6}
    lane_width: 0.4
    lsq_angle_weight: 150.0
    lsq_center_value: 0.5
    lsq_center_weight: 5.0
    lsq_distance_weight: 100.0
    lsq_endpoint_angle_weight: 150.0
    lsq_prefered_point_weight: 5.0
    obstacle_mode: {lsq_angle_weight: 150.0, lsq_center_weight: 5.0, lsq_distance_weight: 100.0,
      lsq_endpoint_angle_weight: 150.0, lsq_prefered_point_weight: 5.0}
    parking_mode: {lsq_center_value: 0.7}
    path_polynomial_degree: 3.0
    signal_distance_before_lane_change: 0.5
    start_activated: false
    start_lane_change_distance: 0.8
    use_path_smoothing: false
  path_preprocessing:
    corridor_simplification_max_merge_distance: 0.025
    default: {corridor_simplification_max_merge_distance: 0.025, initial_gate_distance: 0.03,
      lane_width: 0.42, line_width: 0.02, path_offset: 0.2, path_polynomial_degree: 5,
      tracking_distance: 0.5}
    initial_gate_distance: 0.03
    lane_width: 0.42
    obstacle_mode: {path_offset: 0.2, tracking_distance: 0.75}
    parking_mode: {path_offset: 0.16}
    path_polynomial_degree: 5
    start_activated: false
    tracking_distance: 0.75
perception:
  camera: {auto_exposure: false, auto_frame_rate: false, auto_gain: true, auto_white_balance: false,
    binning: 1, blue_gain: 0, camera_id: 0, camera_name: camera, camera_topic: image_raw,
    color_mode: mono8, exposure: 3.9998596491228073, ext_trigger_mode: false, flash_delay: 1,
    flash_duration: 1000, flip_lr: true, flip_upd: true, frame_rate: 59.9934322979379,
    gain_boost: false, green_gain: 0, image_height: 650, image_left: 0, image_top: 0,
    image_width: 1280, master_gain: 0, output_rate: 0.0, pixel_clock: 86, red_gain: 0,
    sensor_scaling: 1.0, subsampling: 1, white_balance_blue_offset: 0, white_balance_red_offset: 0}
  default:
    ego_vehicle:
      mask_mode: 0
      pixelwise_mask: {modified_mask_path: ~/pixelwise_mask_files/car_mask.pbm, standard_mask_directory: ~/pixelwise_mask_files/,
        standard_mask_name: car_mask.pbm}
      trapezoid_mask: {bottom_left_loc_x: 186, bottom_left_loc_y: 650, bottom_right_loc_x: 1064,
        bottom_right_loc_y: 650, top_left_loc_x: 428, top_left_loc_y: 301, top_right_loc_x: 851,
        top_right_loc_y: 304}
  ego_vehicle:
    mask_mode: 0
    pixelwise_mask: {modified_mask_path: ~/pixelwise_mask_files/car_mask.pbm, standard_mask_directory: ~/pixelwise_mask_files/,
      standard_mask_name: car_mask.pbm}
    trapezoid_mask: {bottom_left_loc_x: 186, bottom_left_loc_y: 650, bottom_right_loc_x: 1064,
      bottom_right_loc_y: 650, top_left_loc_x: 428, top_left_loc_y: 301, top_right_loc_x: 851,
      top_right_loc_y: 304}
  feature_line_detection:
    default:
      dist_vehicle: {max: 1.2, min: 0.6}
      feature_line: {length: 0.4, threshold_black: 0.75, threshold_white: 0.45, width: 0.04}
      search_distance: {normal: 0.4, tangential: 0.06}
      start_line: {max_threshold: 0.55, min_threshold: 0.24}
      wait_after_startline: 0.6
    dist_vehicle: {max: 1.2, min: 0.6}
    feature_line: {length: 0.4, threshold_black: 0.75, threshold_white: 0.45, width: 0.04}
    roi: {end_loc_x: 1280, end_loc_y: 550, start_loc_x: 0, start_loc_y: 70}
    search_distance: {normal: 0.4, tangential: 0.06}
    start_activated: false
    start_line: {max_threshold: 0.55, min_threshold: 0.24}
    wait_after_startline: 0.6
  lane_detection:
    debug_mode: false
    default:
      feature_extraction:
        general: {enable_performance_tracing: 0, histogram_bin_size: 0.005, line_discretization_weights: '0.5,
            1, 0.3, 1.0, 0.2, 1.5', scan_line_half_size: 0.1, scan_line_step_size: 0.01,
          sigma_factor: 3}
        segment_boundaries: {far: 1.0, left: 0.4, middle: 0, near: 0.0, outer_left: 0.8,
          right: -0.4}
        visual_range_thresh: {thresh_long: 0.2, thresh_short: 1}
      input_queue_size: 1
      line_tracking:
        consistency_check_sampling_points: [1.0, 2.0]
        degree_adaption: {enable: true, max_a: 0.1, max_error: 0.015, refit_after_switch: true}
        eps: 0.01
        fitting: {fitting_error_threshold: 1.5, image_points_threshold: 10}
        lane: {sep: 0.42}
        middle_line_point_filtering: {count_thresh: 15, count_thresh_ratio: 0.35,
          dist_thresh: 0.3, near_field_dist: 0.0}
        midline_recognition: {clustering_distance_thresh: 0.1, enable: true, intra_cluster_distance_thresh: 0.28,
          min_number_of_clusters: 2, min_number_of_points_in_cluster: 10, region_of_interest: 1.0}
        nav_points_threshold: 10
        outer_lines_point_filtering: {count_thresh: 15, count_thresh_ratio: 0.35,
          dist_thresh: 0.2, near_field_dist: 0.0}
        points_filtering_enabled: true
        polynomial:
          always_RANSAC: false
          degree: 2
          max_x: 2.0
          min_x: 0
          ransac: {max_iterations: 50, ratio_inlier: 0.9, threshold_distance: 0.01}
          step_x: 0.01
          switchdown: 1
          use_RANSAC_for_init: false
        start_box_handling: {max_A: 0.1, max_B: 0.1, max_error: 0.05, starts_with: true}
        use_alway_init: false
        use_midline_recognition: true
        use_pointwise_normal_shift: false
        vehicle_point_equals_eps: 0.001
      output_queue_size: 1
    feature_extraction:
      general: {histogram_bin_size: 0.005, scan_line_half_size: 0.1, scan_line_step_size: 0.01,
        sigma_factor: 3.0}
      segment_boundaries: {far: 1.0, left: 0.4, middle: 0.0, near: 0.0, outer_left: 0.8,
        right: -0.4}
      visual_range_thresh: {thresh_long: 0.2, thresh_short: 1.0}
    input_queue_size: 1
    line_tracking:
      consistency_check_sampling_points: [1.0, 2.0]
      degree_adaption: {enable: true, max_a: 0.1, max_error: 0.015, refit_after_switch: true}
      eps: 0.01
      fitting: {fitting_error_threshold: 1.5, image_points_threshold: 10}
      lane: {sep: 0.42}
      middle_line_point_filtering: {count_thresh: 15, count_thresh_ratio: 0.35, dist_thresh: 0.3,
        near_field_dist: 0.0}
      midline_recognition: {clustering_distance_thresh: 0.1, enable: true, intra_cluster_distance_thresh: 0.28,
        min_number_of_clusters: 2, min_number_of_points_in_cluster: 10, region_of_interest: 1.0}
      nav_points_threshold: 10
      outer_lines_point_filtering: {count_thresh: 15, count_thresh_ratio: 0.35, dist_thresh: 0.2,
        near_field_dist: 0.0}
      points_filtering_enabled: true
      polynomial:
        always_RANSAC: false
        degree: 2
        max_x: 2.0
        min_x: 0.0
        ransac: {max_iterations: 50, ratio_inlier: 0.9, threshold_distance: 0.01}
        step_x: 0.01
        switchdown: 1
        use_RANSAC_for_init: false
      start_box_handling: {max_A: 0.1, max_B: 0.1, max_error: 0.05, starts_with: true}
      use_alway_init: false
      use_pointwise_normal_shift: false
      vehicle_point_equals_eps: 0.001
    output_queue_size: 1
    start_activated: false
  object_detection:
    box_height_assume: 0.17
    box_height_max: 0.28
    box_height_min: 0.06
    box_length_assume: 0.25
    box_length_max: 0.44
    box_length_min: 0.06
    canny: {angle_tolerance_vertical: 0.122173, approx_poly_epsilon: 3.8, bresenham_gap_length: 7.0,
      bresenham_half_size: 4, construction_validation_factor: 0.5, convex_hull_dist: 0.15,
      higher_threshold: 900.0, lineseg_min_2d_length: 10.0, lower_threshold: 500.0,
      merge_non_vertical_dist_from_lineseg: 6.0, merge_non_vertical_endpoint_dist: 11.0,
      merge_vertical_dist_from_lineseg: 8.0, merge_vertical_endpoint_dist: 11.0, vertical_mean_shift_dist: 0.7}
    default:
      box_height_assume: 0.17
      box_height_max: 0.28
      box_height_min: 0.06
      box_length_assume: 0.25
      box_length_max: 0.44
      box_length_min: 0.06
      canny: {angle_tolerance_vertical: 0.122173, approx_poly_epsilon: 3.8, bresenham_gap_length: 7,
        bresenham_half_size: 4, check_perspective_min_pixels_outside: 11, construction_validation_factor: 0.5,
        convex_hull_dist: 0.15, higher_threshold: 900, lineseg_min_2d_length: 10,
        lower_threshold: 500, merge_non_vertical_dist_from_lineseg: 6, merge_non_vertical_endpoint_dist: 11,
        merge_vertical_dist_from_lineseg: 8, merge_vertical_endpoint_dist: 11, vertical_mean_shift_dist: 0.7}
      dynamic_obstacle_max_velocity: 0.8
      ekf_activation_mean_shift_radius: 0.7
      ekf_measurement_track_gate_radius: 0.5
      horizon: 2.5
      obstacle_tracking: {ekf_P_initial_m: 0.4, ekf_P_initial_m_s: 300, ekf_P_initial_m_s_uncertain: 800,
        ekf_P_initial_m_uncertain: 0.12, ekf_P_initial_rad: 0.4, ekf_Q_m: 0.04, ekf_Q_m_s: 0.2,
        ekf_Q_rad: 0.3, ekf_R_m: 6, ekf_R_m_s: 300, ekf_R_m_s_uncertain: 800, ekf_R_m_uncertain: 110,
        ekf_R_rad: 40, ekfdynamic_deactivate_n_missing_measurements: 16, ekfdynamic_init_measurements: 4,
        ekfdynamic_init_steps: 6, ekfdynamic_terminate_n_missing_measurements: 120,
        ekfstatic_deactivate_n_missing_measurements: 16, ekfstatic_init_measurements: 4,
        ekfstatic_init_steps: 6, ekfstatic_terminate_n_missing_measurements: 120,
        imm_dynamic_factor: 40}
    dynamic_obstacle_max_velocity: 0.8
    ekf_activation_mean_shift_radius: 0.7
    ekf_measurement_track_gate_radius: 0.5
    horizon: 2.5
    obstacle_tracking: {ekf_P_initial_m: 0.4, ekf_P_initial_m_s: 300.0, ekf_P_initial_m_s_uncertain: 800.0,
      ekf_P_initial_m_uncertain: 0.12, ekf_P_initial_rad: 0.4, ekf_Q_m: 0.04, ekf_Q_m_s: 0.2,
      ekf_Q_rad: 0.3, ekf_R_m: 6.0, ekf_R_m_s: 300.0, ekf_R_m_s_uncertain: 800.0,
      ekf_R_m_uncertain: 110.0, ekf_R_rad: 40.0, ekfdynamic_deactivate_n_missing_measurements: 16,
      ekfdynamic_init_measurements: 4, ekfdynamic_init_steps: 6, ekfdynamic_terminate_n_missing_measurements: 120,
      ekfstatic_deactivate_n_missing_measurements: 16, ekfstatic_init_measurements: 4,
      ekfstatic_init_steps: 6, ekfstatic_terminate_n_missing_measurements: 120, imm_dynamic_factor: 40.0}
    start_activated: false
  obstacle_tracking:
    blind_distance: 0.6
    default: {blind_distance: 0.6, lock_duration: 500, max_range_IR: 0.2, min_certainty_IR: 3,
      tracking_radius: 2.2, tracking_radius_IR: 0.5}
    lock_duration: 500
    max_range_IR: 0.2
    min_certainty_IR: 3
    start_activated: false
    tracking_radius: 2.2
    tracking_radius_IR: 0.5
  parkinglot_mapping:
    default: {height: 15.0, resolution: 0.015, width: 0.3}
    height: 15.0
    resolution: 0.015
    start_activated: false
    width: 0.3
  preprocessing:
    binarisation: {blocksize: 45, c: 25.0, mode: 2, sigma: 0.4}
    default:
      binarisation: {blocksize: 45, c: 25, mode: 2, sigma: 0.4}
      input_queue_size: 1
      median_blur: {median_blur_size: 3}
      output_queue_size: 1
      roi: {end_loc_x: 1280, end_loc_y: 550, start_loc_x: 0, start_loc_y: 70}
      wait_for_subscriber: false
    input_queue_size: 1
    median_blur: {median_blur_size: 3}
    output_queue_size: 1
    roi: {end_loc_x: 1280, end_loc_y: 550, start_loc_x: 0, start_loc_y: 70}
    start_activated: false
    wait_for_subscriber: false
  road_watcher:
    area_of_interest_step_size: 0.05
    crosswalk_classifier:
      black_pixel: 0
      bottom_line_row: 0.7
      canny_mask_size: 3
      canny_thresh_high: 100
      canny_thresh_low: 50
      min_score_pedestrians: 0.4
      min_size_point_vectors: 14
      pedestrian_tracker: {divisor_max_size: 2, divisor_min_size: 5, guessed_lane_width: 0.5,
        lateral_offset: 0.08, line_iterator_connectivity: 8, lower_hist_thresh: 40,
        mser_roi_frame: 20, pedestrian_area_length: 0.4, pedestrian_area_width: 0.25,
        pedestrian_threshold: 0.01, upper_hist_thresh: 100}
      top_line_row: 0.6
      white_pixel: 255
    dbscan: {core_epsilon: 0.3, min_points_to_be_core: 4}
    debug_mode: false
    default:
      area_of_interest_step_size: 0.05
      crosswalk_classifier:
        black_pixel: 0
        bottom_line_row: 0.7
        canny_mask_size: 3
        canny_thresh_high: 100
        canny_thresh_low: 50
        min_score_pedestrians: 0.4
        min_size_point_vectors: 14
        pedestrian_tracker: {divisor_max_size: 2, divisor_min_size: 5, guessed_lane_width: 0.5,
          lateral_offset: 0.08, line_iterator_connectivity: 8, lower_hist_thresh: 40,
          mser_roi_frame: 20, pedestrian_area_length: 0.4, pedestrian_area_width: 0.25,
          pedestrian_threshold: 0.01, upper_hist_thresh: 100}
        top_line_row: 0.6
        white_pixel: 255
      dbscan: {core_epsilon: 0.3, min_points_to_be_core: 4}
      degree_of_polynomial: 2
      dynamically_restrict_search_pattern: true
      epsilon_newton_method: 0.01
      expand_x: 18
      expand_y: 18
      field_of_vision: {bottom: 550, left: 0, right: 1289, top: 50}
      gradient_detection_thld: 6
      histogram_classifier:
        image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
        line_touching_obstacle_localizer:
          clustering: {cluster_size_threshold: 4, distance: 3.5}
          line: {max_diff_from_perpend: 0.3, max_variance: 1, max_verticality_eps: 0.22,
            min_single_line_point_number: 6}
          line_expansion: {max_distance_along_line: 6.0, max_distance_to_line: 4.0}
          scan_lines: {reference_function_length: 11, step_size: 1, threshold: 7.5}
          top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
            min_blob_area: 50}
        min_cluster_size: 300
        min_clusters: 2
      lane_tolerance: 0.1
      lane_width: 0.4
      max_iterations_newton_method: 20
      max_sampling_distance: 2.0
      min_sampling_distance: 2.0
      offset_after_center: 1.0
      offset_before_center: 0.2
      offset_left_of_center: 0.6
      offset_right_of_center: 0.6
      pixel_width: 0.01
      road_closure_classifier: {black_pixel: 0, bv_proj_point_close_y_low: 12, bv_proj_point_far_x_low: 18,
        bv_proj_point_far_y_low: 6, canny_area: 5, canny_mask_size: 3, canny_thresh_high: 100,
        canny_thresh_low: 50, guessed_lane_width: 0.5, offset_middle_lane: 5, start_y_high: 17,
        start_y_low: 15, white_pixel: 255}
      sampling_offset: 10
      sampling_x_end: 3.0
      sampling_x_start: 0.5
      sampling_x_step: 0.04
      step_reference_function_length: 9
      threshold1: 500
      threshold2: 900
      trim_factor: 0.2
      unidentified_score_threshold: 0.2
    degree_of_polynomial: 2
    dynamically_restrict_search_pattern: true
    epsilon_newton_method: 0.01
    expand_x: 18
    expand_y: 18
    field_of_vision: {bottom: 550, left: 0, right: 1289, top: 50}
    gradient_detection_thld: 6.0
    histogram_classifier:
      image: {bottom_offset: 0, lateral_offset: 2, top_offset: 2}
      line_touching_obstacle_localizer:
        clustering: {cluster_size_threshold: 4, distance: 3.5}
        line: {max_diff_from_perpend: 0.3, max_variance: 1.0, max_verticality_eps: 0.22,
          min_single_line_point_number: 6.0}
        line_expansion: {max_distance_along_line: 6.0, max_distance_to_line: 4.0}
        scan_lines: {reference_function_length: 11, step_size: 1, threshold: 7.5}
        top_of_boxes: {defect_ratio: 0.33, distance_to_end_point: 8.0, distance_to_line: 4.0,
          min_blob_area: 50}
      min_cluster_size: 300
      min_clusters: 2
    lane_tolerance: 0.1
    lane_width: 0.4
    max_iterations_newton_method: 20
    max_sampling_distance: 2.0
    min_sampling_distance: 2.0
    offset_after_center: 1.0
    offset_before_center: 0.2
    offset_left_of_center: 0.6
    offset_right_of_center: 0.6
    pixel_width: 0.01
    road_closure_classifier: {black_pixel: 0, bv_proj_point_close_y_low: 12, bv_proj_point_far_x_low: 18,
      bv_proj_point_far_y_low: 6, canny_area: 5, canny_mask_size: 3, canny_thresh_high: 100,
      canny_thresh_low: 50, guessed_lane_width: 0.5, offset_middle_lane: 5, start_y_high: 17,
      start_y_low: 15, white_pixel: 255}
    sampling_offset: 10
    sampling_x_end: 3.0
    sampling_x_start: 0.5
    sampling_x_step: 0.04
    start_activated: false
    step_reference_function_length: 9.0
    threshold1: 500.0
    threshold2: 900.0
    trim_factor: 0.2
    unidentified_score_threshold: 0.2
rosdistro: '<unknown>

  '
roslaunch:
  uris: {host_andi_lenovo_g50_70__33607: 'http://andi-Lenovo-G50-70:33607/', host_andi_lenovo_g50_70__46010: 'http://andi-Lenovo-G50-70:46010/',
    host_kitcarnuc__39686: 'http://kitcarnuc:39686/'}
rosversion: '1.12.2

  '
run_id: 5817d9d6-0fec-11e7-a25b-b8aeed7b09a9
state_estimation:
  state_estimation:
    debug_measurement_rate: 120
    debug_mode: false
    default: {enable_runtime_analyzer: false, kalman_gain_convergence_distance_threshold: 1.0e-09,
      max_acceleration: 40.0, max_speed: 10.0, max_yaw_rate: 10.0, measurement_noise_acceleration: 27,
      measurement_noise_angular_speed_left: 1.0186, measurement_noise_angular_speed_right: 1.0186,
      measurement_noise_yaw_rate: 0.0001, system_noise_acceleration: 0.025, system_noise_speed: 1.0e-06,
      system_noise_yaw_rate: 0.4}
    enable_runtime_analyzer: false
    integration_test_mode: false
    kalman_gain_convergence_distance_threshold: 1.0e-09
    max_acceleration: 40.0
    max_speed: 10.0
    max_yaw_rate: 10.0
    measurement_noise_acceleration: 27.0
    measurement_noise_angular_speed_left: 1.0186
    measurement_noise_angular_speed_right: 1.0186
    measurement_noise_yaw_rate: 0.0001
    start_activated: false
    system_noise_acceleration: 0.025
    system_noise_speed: 1.0e-06
    system_noise_yaw_rate: 0.4
vehicle_to_front_axle_broadcaster: {child_frame_id: front_axle, frame_id: vehicle,
  period: 100.0, pitch: 0.0, roll: 0.0, y: 0.0, yaw: 0.0, z: 0.0}
vehicle_to_ir_back_broadcaster: {child_frame_id: ir_back, frame_id: vehicle, period: 100.0}
vehicle_to_ir_front_broadcaster: {child_frame_id: ir_front, frame_id: vehicle, period: 100.0}
visualization:
  cockpit:
    cockpit_image:
      compressed: {format: jpeg, jpeg_quality: 80, png_level: 9}
      theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    start_activated: true
