lgsvl_vehicle_config.json

// [
//     {
//         "type": "Lidar",
//         "name": "Lidar",
//         "params": {
//             "LaserCount": 64,
//             "MinDistance": 0.5,
//             "MaxDistance": 50,
//             "RotationFrequency": 10,
//             "MeasurementsPerRotation": 360,
//             "FieldOfView": 41.33,
//             "CenterAngle": 10,
//             "Compensated": true,
//             "PointColor": "#ff000000",
//             "Topic": "/simulator/lidar",
//             "Frame": "velodyne"
//         },
//         "transform": {
//             "x": 0,
//             "y": 2.312,
//             "z": -0.3679201,
//             "pitch": 0,
//             "yaw": 0,
//             "roll": 0
//         }
//     },
//     {
//         "type": "3D Ground Truth",
//         "name": "3D Ground Truth",
//         "params": {
//             "Frequency": 10,
//             "Topic": "/simulator/ground_truth/3d_detections"
//         },
//         "transform": {
//             "x": 0,
//             "y": 1.975314,
//             "z": -0.3679201,
//             "pitch": 0,
//             "yaw": 0,
//             "roll": 0
//         }
//     },
//     {
//         "type": "Keyboard Control",
//         "name": "Keyboard Car Control"
//     },
//     {
//         "type": "Wheel Control",
//         "name": "Wheel Car Control"
//     }
// ]

[
    {
        "type": "Lidar",
        "name": "Lidar",
        "params": {
            "LaserCount": 64,
            "MinDistance": 0.5,
            "MaxDistance": 50,
            "RotationFrequency": 10,
            "MeasurementsPerRotation": 360,
            "FieldOfView": 41.33,
            "CenterAngle": 10,
            "Compensated": true,
            "PointColor": "#ff000000",
            "Topic": "/simulator/lidar",
            "Frame": "velodyne"
        },
        "transform": {
            "x": 0,
            "y": 2.8,
            "z": 0.3679201,
            "pitch": 0,
            "yaw": 0,
            "roll": 0
        }
    },
    {
        "type": "3D Ground Truth",
        "name": "3D Ground Truth",
        "params": {
            "Frequency": 30,
            "Topic": "/simulator/ground_truth/3d_detections"
        },
        "transform": {
            "x": 0,
            "y": 2.8,
            "z": 0.3679201,
            "pitch": 0,
            "yaw": 0,
            "roll": 0
        }
    },
    {
        "type": "Keyboard Control",
        "name": "Keyboard Car Control"
    },
    {
        "type": "Wheel Control",
        "name": "Wheel Car Control"
    }
]