RaspberryPiMouse_IsaacSIM/raspimouse.graph.json at master · rt-net/RaspberryPiMouse_IsaacSIM · GitHub

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{
  "nodes": [
    {
      "name": "shared_robot_model",
      "components": [
        {
          "name": "RangeScanModel",
          "type": "isaac::navigation::RangeScanModelFlatloc"
        },
        {
          "name": "DifferentialBaseModel",
          "type": "isaac::planner::DifferentialBaseModel"
        }
      ]
    },
    {
      "name": "raspimouse_odometry",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.navigation.DifferentialBaseWheelImuOdometry",
          "type": "isaac::navigation::DifferentialBaseWheelImuOdometry"
        }
      ]
    },
    {
      "name": "base_simulation",
      "components": [
        {
          "name": "message_ledger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.flatsim.DifferentialBaseSimulator",
          "type": "isaac::flatsim::DifferentialBaseSimulator"
        },
        {
          "name": "isaac.alice.Failsafe",
          "type": "isaac::alice::Failsafe"
        }
      ]
    },
    {
      "name": "RealsenseD435CameraSubscriber",
      "components": [
        {
          "name": "RealsenseD435_camera_initializer",
          "type": "isaac::alice::PoseInitializer"
        },
        {
          "name": "isaac.alice.MessageLedger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.alice.TcpSubscriber",
          "type": "isaac::alice::TcpSubscriber"
        }
      ]
    },
    {
      "name": "RealsenseD435ColorCameraViewer",
      "components": [
        {
          "name": "isaac.alice.MessageLedger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.viewers.ColorCameraViewer",
          "type": "isaac::viewers::ColorCameraViewer"
        }
      ]
    },
    {
      "name": "RealsenseD435DepthCameraViewer",
      "components": [
        {
          "name": "isaac.alice.MessageLedger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.viewers.DepthCameraViewer",
          "type": "isaac::viewers::DepthCameraViewer"
        }
      ]
    },
    {
      "name": "ActuatorPublisher",
      "components": [
        {
          "name": "isaac.alice.MessageLedger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.alice.TcpPublisher",
          "type": "isaac::alice::TcpPublisher"
        }
      ]
    },
    {
      "name": "RigidBodySubscriber",
      "components": [
        {
          "name": "isaac.alice.MessageLedger",
          "type": "isaac::alice::MessageLedger"
        },
        {
          "name": "isaac.alice.TcpSubscriber",
          "type": "isaac::alice::TcpSubscriber"
        }
      ]
    }
  ],
  "edges": [
    {
      "source": "RealsenseD435CameraSubscriber/isaac.alice.TcpSubscriber/ColorSensor",
      "target": "RealsenseD435ColorCameraViewer/isaac.viewers.ColorCameraViewer/color_listener"
    },
    {
      "source": "RealsenseD435CameraSubscriber/isaac.alice.TcpSubscriber/DepthSensor",
      "target": "RealsenseD435DepthCameraViewer/isaac.viewers.DepthCameraViewer/depth_listener"
    },
    {
      "source": "base_simulation/isaac.flatsim.DifferentialBaseSimulator/diff_base_state",
      "target": "raspimouse_odometry/isaac.navigation.DifferentialBaseWheelImuOdometry/state"
    },
    {
      "source": "websight/WebsightServer/virtual_gamepad",
      "target": "virtual_gamepad_bridge/VirtualGamepadBridge/request"
    },
    {
      "source": "base_simulation/isaac.flatsim.DifferentialBaseSimulator/physics_actuation",
      "target": "ActuatorPublisher/isaac.alice.TcpPublisher/physics_actuation"
    },
    {
      "source": "RigidBodySubscriber/isaac.alice.TcpSubscriber/bodies",
      "target": "base_simulation/isaac.flatsim.DifferentialBaseSimulator/physics_bodies"
    },
    {
      "source": "base_simulation/isaac.flatsim.DifferentialBaseSimulator/diff_base_state",
      "target": "raspimouse_odometry/isaac.navigation.DifferentialBaseWheelImuOdometry/state"
    }
  ]
}