config.yaml

# This is the default template for the configuration of the web server
# You must place a similar config file in a Config directory in the parent of the git repository
# The resulting structure will be:
# /MyProject
#     /BathyBoatWeb
#         ...
#     /Config
#         config.yaml
# If not present, this file will be used by default

### COMMON ###
common:
    # REQUIRED #
    missions:
        path: /home/helios/Helios/Missions/
        name: Mission_Brest_{DATE}_{TIME}.json
    tcp:
        dataPort: 29200
        commandPort: 22300
    # OPTIONAL #
    map:
        initialPosition:
            lat: 48.395497
            lng: -4.390246

### WEB ###
web:
    # REQUIRED #
    webServer:
        port: 29201
        rosIP: 127.0.0.1
    # OPTIONAL #
    camera:
        enable: true
        streamPort: 8081
        webSocketPort: 8082
        record:
            enable: true
            path: /home/helios/Helios/Recordings/
            name: Record_Brest_{DATE}_{TIME}.ts

### ROS ###
ros:
    # REQUIRED #
    target:
        accept_dist: 2.0
    pololu:
        serial_path: /dev/pololu_servo_serial
        turn_gap: 1000
    simulation:
        x_initial: 155165.0
        y_initial: 6829365.0
        yaw_initial: 0.0
    regulation:
        full_left: 2.5
        k_P: 0.5
        k_I: 0.5
        k_D: 0.0
        initial_speed: 0.5