mikkeli
b52a7dcedb
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
83 lines
3.0 KiB
JSON
83 lines
3.0 KiB
JSON
{
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"root": "yukart",
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"topics": {
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"yukart/can/raw": {
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"payload": "binary",
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"retained": false,
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"rate": "1000-3000/s",
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"publisher": "can-bridge",
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"description": "Timestamped raw frames. Binary, not the JSON envelope."
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},
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"yukart/vehicle/<signal>": {
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"payload": "envelope",
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"retained": true,
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"rate": "1-50/s",
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"publisher": "decoder (source z27ag), obd-poller (source obd2)",
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"description": "One topic per signal, named exactly as in signals.json."
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},
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"yukart/gnss/fix": {
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"payload": "envelope",
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"retained": true,
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"rate": "1-10/s",
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"publisher": "gnss",
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"description": "value is an object: lat, lon, alt_m, speed_kph, heading_deg, fix, satellites."
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},
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"yukart/gnss/<signal>": {
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"payload": "envelope",
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"retained": true,
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"rate": "1-10/s",
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"publisher": "gnss",
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"description": "The receiver's fix as single values, one topic per signal, named exactly as in signals.json (source=gnss). For displays; yukart/gnss/fix stays the composite for navigation."
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},
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"yukart/imu/<signal>": {
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"payload": "envelope",
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"retained": true,
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"rate": "10-50/s",
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"publisher": "imu",
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"description": "The IMU (WT61) in the car's frame: attitude, gravity-free acceleration, yaw rate; one topic per signal, named exactly as in signals.json (source=imu)."
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},
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"yukart/raw/imu": {
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"payload": "json",
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"retained": false,
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"rate": "10-100/s",
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"publisher": "imu",
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"description": "Every IMU sample, raw: module axes, not calibrated. {mono (ns, CLOCK_MONOTONIC), t (µs, realtime), accel [x,y,z] g, gyro [x,y,z] deg/s, angle [roll,pitch,yaw] deg (the module's own)}. Not an envelope; for the recorder (imu.ndjson), so a later calibration can reprocess a session. Displays use yukart/imu/<signal>."
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},
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"yukart/host/<signal>": {
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"payload": "envelope",
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"retained": true,
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"rate": "1/s",
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"publisher": "orin-status",
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"description": "The Orin itself: temperatures, load, memory, network links, UPS battery. One topic per signal, named exactly as in signals.json (source=host)."
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},
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"yukart/system/<service>": {
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"payload": "json",
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"retained": true,
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"rate": "on change",
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"publisher": "every service",
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"description": "state: starting|ready|degraded|stopping, plus service-specific detail."
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},
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"yukart/nav/guidance": {
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"payload": "json",
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"retained": true,
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"rate": "on change",
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"publisher": "svc-nav",
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"description": "Next manoeuvre, distance, street name."
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},
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"yukart/nav/route": {
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"payload": "json",
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"retained": true,
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"rate": "on change",
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"publisher": "svc-nav",
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"description": "Active route geometry."
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},
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"yukart/session/mark": {
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"payload": "json",
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"retained": false,
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"rate": "human",
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"publisher": "svc-gw",
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"description": "Operator event stamped into the recording. Carries both clocks like the envelope."
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}
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}
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}
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