boot_config.json

{
  "_comment": "QQVGA = 0, QVGA = 1, VGA = 2",
  "converters":
  {
    "front_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "bottom_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "depth_camera":
    {
      "enabled"       : true,
      "xtion_resolution": 1,
      "stereo_resolution": 9,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "stereo_camera":
    {
      "enabled"       : true,
      "resolution"    : 15,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "ir_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "info":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "logs":
    {
      "enabled"       : false,
      "frequency"     : 1
    },
    "diag":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "imu_torso":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "imu_base":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "joint_states":
    {
      "enabled"       : true,
      "frequency"     : 50
    },
    "laser":
    {
      "enabled"       : true,
      "frequency"     : 10,
      "range_min"     : 0.1,
      "range_max"     : 3.0
    },
    "sonar":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "audio":
    {
      "enabled"       : true
    },
    "bumper":
    {
      "enabled"       : true
    },
    "touch_hand":
    {
      "enabled"       : true
    },
    "touch_head":
    {
      "enabled"       : true
    },
    "odom":
    {
      "enabled"       : true,
      "frequency"     : 15
    }
  }
}