ctrlgui_node:
  ros__parameters:
    collection_enabled: false
    data_base_dir: "/home/demo/hivecore_robot_os1/data"
    log_base_dir: "/home/demo/hivecore_robot_os1/logs"
    queue_size: 10
    action_server_wait_timeout_sec: 1.0
    work_info_log_throttle_sec: 1.0
    joint_state_log_throttle_sec: 1.0
    work_info_log_every_n: 100
    bt_xml_log_max_len: 100
    ui_update_period_sec: 0.5
    host: "0.0.0.0"
    port: 8080

    topic_led_cmd: "/led_cmd"
    service_rebuild_now: "/cerebrum/rebuild_now"
    topic_robot_work_info: "/robot_work_info"
    action_execute_bt: "/execute_bt_action"
    topic_joint_states: "/joint_states"
    action_gripper0_cmd: "/gripper_cmd0"
    action_gripper1_cmd: "/gripper_cmd1"
    topic_gripper0_status: "/gripper0/status"
    topic_gripper1_status: "/gripper1/status"
    topic_arm_errors: "/arm_errors"
    service_clear_arm_error: "clear_arm_error"

    topic_top_color: "/camera/color/image_raw"
    topic_top_depth: "/camera/depth/image_raw"
    topic_left_color: "/camera1/camera1/color/image_raw"
    topic_left_depth: "/camera1/camera1/depth/image_rect_raw"
    topic_right_color: "/camera2/camera2/color/image_raw"
    topic_right_depth: "/camera2/camera2/depth/image_rect_raw"