ARS548

Name	Type	Description	Default	Range
host_ip	string	Host IPv4 address.	255.255.255.255	N/A
sensor_ip	string	Sensor IPv4 address.	192.168.1.201	N/A
multicast_ip	string	Multicast IPv4 address.	224.0.0.2	N/A
data_port	integer	Sensor data port.	2368	≥ 0
configuration_host_port	integer	Host configuration port.	42401	≥ 0
configuration_sensor_port	integer	Sensor configuration port.	42101	≥ 0
launch_hw	boolean	Whether network sockets should be opened or not. If disabled, replay from NebulaPackets messages is enabled automatically.	true	N/A
frame_id	string	Sensor data frame_id.	data_link	N/A
base_frame	string	Frame with true sensor pose. The final sensor data is transformed by base_frame -> frame_id.	base_link	N/A
object_frame	string	Tracked objects frame.	base_link	N/A
use_sensor_time	boolean	Use sensor time for published sensor data.	false	N/A
radar_info_rate_subsample	integer	Subsample factor to publish radar info messages with respect to the radar detections.	10	N/A
configuration_vehicle_length	float	New vehicle length.	4.9	≥ 0.0
configuration_vehicle_width	float	New vehicle width.	1.9	≥ 0.0
configuration_vehicle_height	float	New vehicle height.	2.5	≥ 0.0
configuration_vehicle_wheelbase	float	New vehicle wheelbase.	2.8	≥ 0.0
sensor_model	string	Sensor model.		ARS548
frequency_ok.min_hz	float	Minimum frequency in Hertz.	9.5	N/A
frequency_ok.max_hz	float	Maximum frequency in Hertz.	10.5	N/A
frequency_warn.min_hz	float	Minimum frequency in Hertz.	9.0	N/A
frequency_warn.max_hz	float	Maximum frequency in Hertz.	11.0	N/A
rate_bound_status.num_frame_transition	integer	Number of frames to wait before transitioning diagnostic status.	3	≥ 1
status_level.ok	integer	Maximum blockage status level considered as OK (0: Blind, 1: High, 2: Mid, 3: Low, 4: None)	2	≥ 0 ≤ 4
status_level.warn	integer	Maximum blockage status level considered as Warning (0: Blind, 1: High, 2: Mid, 3: Low, 4: None). Can not be greater than ok. If ok is equal to warn, the status will be set to ERROR if the blockage status is greater than ok.	1	≥ 0 ≤ 4
test_level.ok	integer	Maximum blockage test level considered as OK (0: Self test failed, 1: Self test passed, 2: Self test ongoing)	1	≥ 0 ≤ 2
test_level.warn	integer	Maximum blockage test level considered as Warning (0: Self test failed, 1: Self test passed, 2: Self test ongoing). Can not be greater than ok. If ok is equal to warn, the status will be set to ERROR if the blockage test is greater than ok.	1	≥ 0 ≤ 2
blockage.num_frame_transition	integer	Number of frames to wait before transitioning diagnostic status for blockage.	5	≥ 1
internal.num_frame_transition	integer	Number of frames to wait before transitioning diagnostic status for internal errors.	10	≥ 1
sync_diagnostics.topic	string			N/A