# ODS parameters

| Name                           | Data Type | Default Value                | Description                                                                                                                                                                                                                                                                                     |
| ------------------------------ | --------- | ---------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `~/config_file`                | string    | `""`                         | Path to a JSON configuration file to be used when configuring the node.                                                                                                                                                                                                                         |
| `~/ip`                         | String    | "192.168.0.69"               | The IP address of the OVP8xx platform.                                                                                                                                                                                                                                                          |
| `~/ods.frame_id`               | String    | "ifm_base_link"                  | The name of the `frame_id` used for the occupancy grid and the zones topics headers.                                                                                                                                                                                                            |
| `~/ods.publish_occupancy_grid` | bool      | true                         | Set module to publish `nav2_msgs/OccupancyGrid`.                                                                                                                                                                                                                                                |
| `~/ods.publish_costmap`        | bool      | false                        | Set module to publish `nav2_msgs/Costmap`.                                                                                                                                                                                                                                                      |
| `~/pcic_port`                  | Integer   | 51010                        | The TCP port the PCIC server for the active application is listening to. Can be read out in the JSON configuration at the `"/applications/instances/appX/data/PcicTCPPort"` key, or retrieved using the ifm3d API with `O3R->Port("appX").pcic_port`, where `"appX"` is the active application. |
| `~/xmlrpc_port`                | Integer   | `ifm3d::DEFAULT_XMLRPC_PORT` | The TCP port the XMLRPC server for the active application is listening to. Typically, the default value can be used.                                                                                                                                                                            |