ODS parameters

Name	Data Type	Default Value s	Description
~/config_file	string	""	Path to a JSON configuration file to be used when configuring the node. Absolute path to a file, or relative path from a package’s share directory possible, if prefixed by package://<my_package>/path/to/config.json. Relative path without package:// prefix is assumed to be relative to ifm3d_ros2 share directory. Parameter is ignored if "" is provided.
~/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 nav_msgs/OccupancyGrid.
~/ods.publish_polar_occupancy_grid	bool	true	Set module to publish sensor_msgs/LaserScan from polar distance data. This provides LiDAR-like visualization of the 360° polar distance measurements from the ODS system.
~/ods.publish_costmap	bool	false	Set module to publish nav2_msgs/Costmap. This format is used by Navigation2 for path planning and is not directly visualizable in RViz (use the occupancy grid for visualization).
~/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.
~/publish_uncompressed	bool	false	If true, most sensor messages will be published best_effort instead of reliable.
~/use_timestamp_from_device	bool	true	Uses timestamp from VPU for messages if true; uses ROS time if false.
~/xmlrpc_port	Integer	80	The TCP port the XMLRPC server for the active application is listening to. Typically, the default value can be used.