# ROS 2 参数模板：用于把真实标定采集数据注入算法输入。
#
# 使用方式：
#   启动现场 launch 时通过 data_input_params_file 指向本文件副本。
#
# 采集或数据接入程序应为每次标定会话生成一份本文件的副本，
# 并把数据集索引、rosbag/mcap、CSV/JSON 日志、图像、点云、
# IMU 样本和检测结果等路径写入对应字段。
# 推荐从 dataset_index.yaml 自动生成，转换工具为：
#   src/deployment/tools/dataset_index_to_site_data_input.py

external_localization_service:
  ros__parameters:
    data_input.data_window_start_timestamp_us: 0
    data_input.data_window_end_timestamp_us: 0
    # data_input.external_observation_files:
    #   - /data/agv_calib/session_001/external/external_observations.csv
    # data_input.marker_observation_files:
    #   - /data/agv_calib/session_001/external/marker_observations.json
    # data_input.time_sync_diagnostic_files:
    #   - /data/agv_calib/session_001/external/time_sync_report.json

chassis_calibration_service:
  ros__parameters:
    data_input.data_window_start_timestamp_us: 0
    data_input.data_window_end_timestamp_us: 0
    # data_input.chassis_motion_data_files:
    #   - /data/agv_calib/session_001/chassis/chassis_motion.csv
    # data_input.actuator_command_files:
    #   - /data/agv_calib/session_001/chassis/actuator_commands.csv
    # data_input.truth_trajectory_files:
    #   - /data/agv_calib/session_001/external/truth_trajectory.csv

control_calibration_service:
  ros__parameters:
    data_input.data_window_start_timestamp_us: 0
    data_input.data_window_end_timestamp_us: 0
    # data_input.control_evaluation_data_files:
    #   - /data/agv_calib/session_001/control/control_eval.csv
    # data_input.reference_signal_files:
    #   - /data/agv_calib/session_001/control/reference_signal.csv
    # data_input.chassis_response_files:
    #   - /data/agv_calib/session_001/control/chassis_response.csv
    # data_input.truth_trajectory_files:
    #   - /data/agv_calib/session_001/external/truth_trajectory.csv

sensor_calibration_service:
  ros__parameters:
    data_input.data_window_start_timestamp_us: 0
    data_input.data_window_end_timestamp_us: 0
    # data_input.image_sample_files:
    #   - /data/agv_calib/session_001/sensor/front_camera/images.yaml
    # data_input.imu_sample_files:
    #   - /data/agv_calib/session_001/sensor/imu/imu_samples.mcap
    # data_input.pointcloud_sample_files:
    #   - /data/agv_calib/session_001/sensor/lidar_3d/pointclouds.mcap
    # data_input.laser_scan_sample_files:
    #   - /data/agv_calib/session_001/sensor/lidar_2d/scans.mcap
    # data_input.target_detection_files:
    #   - /data/agv_calib/session_001/sensor/front_camera/charuco_detections.json
    # data_input.robot_pose_sample_files:
    #   - /data/agv_calib/session_001/sensor/hand_eye/robot_poses.csv
    # data_input.synchronized_dataset_files:
    #   - /data/agv_calib/session_001/dataset_index.yaml
