realsense-ros/realsense2_camera/examples/d500_tables/safety_interface_config_example.json at ros2-master · realsenseai/realsense-ros · GitHub

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{
    "safety_interface_config":
    {
        "m12_safety_pins_configuration":
        {
            "power":
            {
                "direction": "In",
                "functionality": "p24VDC"
            },
            "ossd1_b":
            {
                "direction": "Out",
                "functionality": "pOSSD1_B"
            },
            "ossd1_a":
            {
                "direction": "Out",
                "functionality": "pOSSD1_A"
            },
            "preset3_a":
            {
                "direction": "In",
                "functionality": "pPresetSelect3_A"
            },
            "preset3_b":
            {
                "direction": "In",
                "functionality": "pPresetSelect3_B"
            },
            "preset4_a":
            {
                "direction": "In",
                "functionality": "pPresetSelect4_A"
            },
            "preset1_b":
            {
                "direction": "In",
                "functionality": "pPresetSelect1_B"
            },
            "preset1_a":
            {
                "direction": "In",
                "functionality": "pPresetSelect1_A"
            },
            "gpio_0":
            {
                "direction": "In",
                "functionality": "pPresetSelect5_A"
            },
            "gpio_1":
            {
                "direction": "In",
                "functionality": "pPresetSelect5_B"
            },
            "gpio_3":
            {
                "direction": "In",
                "functionality": "pPresetSelect6_B"
            },
            "gpio_2":
            {
                "direction": "In",
                "functionality": "pPresetSelect6_A"
            },
            "preset2_b":
            {
                "direction": "In",
                "functionality": "pPresetSelect2_B"
            },
            "gpio_4":
            {
                "direction": "Out",
                "functionality": "pDeviceReady"
            },
            "preset2_a":
            {
                "direction": "In",
                "functionality": "pPresetSelect2_A"
            },
            "preset4_b":
            {
                "direction": "In",
                "functionality": "pPresetSelect4_B"
            },
            "ground":
            {
                "direction": "In",
                "functionality": "pGND"
            }
        },
        "gpio_stabilization_interval" : 150,
        "camera_position":
        {
            "rotation":
            [
                [ 0.0,  0.0,  1.0],
                [-1.0,  0.0,  0.0],
                [ 0.0, -1.0,  0.0]
            ],
            "translation": [0.0, 0.0, 0.27]
        },
        "occupancy_grid_params":
        {
            "grid_cell_seed" : 20,
            "close_range_quorum" : 12 ,
            "mid_range_quorum" : 6,
            "long_range_quorum" : 4
        },
        "smcu_arbitration_params":
        {
            "l_0_total_threshold": 100,
            "l_0_sustained_rate_threshold": 20,
            "l_1_total_threshold": 100,
            "l_1_sustained_rate_threshold": 20,
            "l_2_total_threshold": 10,
            "hkr_stl_timeout": 15,
            "mcu_stl_timeout": 10,
            "sustained_aicv_frame_drops": 95,
            "ossd_self_test_pulse_width": 23
        },
        "crypto_signature": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
    }
}