pc_vis.cfg

{
    "url"     : "http://54.217.91.194:9000/",
    "userID"  : "testUser",
    "password": "testUser",
    "robotID" : "workstation",
    
    "containers" : [
        {
            "cTag" : "cloud_container"
        }
    ],
    
    "nodes" : [
        {
            "cTag" : "cloud_container",
            "nTag" : "multi_mapper",
            "pkg"  : "rm_multi_mapper",
            "exe"  : "rotation_demo",
	    "args" : ""
        }
    ],
    
    "parameters" : [],
    
    "interfaces" : [

	{
            "eTag"  : "workstation",
            "iTag"  : "PointCloudConverter0", 
            "iType" : "PublisherConverter",
            "iCls"  : "sensor_msgs/PointCloud2", 
            "addr"  : "/cloudbot0/pointcloud"
        }, 
	

	{
            "eTag"  : "cloud_container",
            "iTag"  : "PointCloudInterface0", 
            "iType" : "SubscriberInterface",
            "iCls"  : "sensor_msgs/PointCloud2", 
            "addr"  : "/cloudbot0/pointcloud"
        },

	{
            "eTag"  : "workstation",
            "iTag"  : "PointCloudConverter1", 
            "iType" : "PublisherConverter",
            "iCls"  : "sensor_msgs/PointCloud2", 
            "addr"  : "/cloudbot1/pointcloud"
        }, 
	

	{
            "eTag"  : "cloud_container",
            "iTag"  : "PointCloudInterface1", 
            "iType" : "SubscriberInterface",
            "iCls"  : "sensor_msgs/PointCloud2", 
            "addr"  : "/cloudbot1/pointcloud"
        },



	{
            "eTag"  : "workstation",
            "iTag"  : "TfConverter", 
            "iType" : "PublisherConverter",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        }, 
	

	{
            "eTag"  : "cloud_container",
            "iTag"  : "TfInterface", 
            "iType" : "SubscriberInterface",
            "iCls"  : "tf/tfMessage", 
            "addr"  : "/tf"
        },


	{
            "eTag"  : "workstation",
            "iTag"  : "StartMovingService", 
            "iType" : "ServiceProviderConverter",
            "iCls"  : "std_srvs/Empty", 
            "addr"  : "start_moving"
        },
	{
            "eTag"  : "cloud_container",
            "iTag"  : "StartMovingService", 
            "iType" : "ServiceClientInterface",
            "iCls"  : "std_srvs/Empty", 
            "addr"  : "start_moving"
        }

    ],
    
    "connections" : [
	{   "tagA" : "workstation/PointCloudConverter0",
            "tagB" : "cloud_container/PointCloudInterface0"
        },
	{   "tagA" : "workstation/PointCloudConverter1",
            "tagB" : "cloud_container/PointCloudInterface1"
        },
  	{   "tagA" : "workstation/TfConverter",
            "tagB" : "cloud_container/TfInterface"
        },
	{   "tagA" : "workstation/StartMovingService",
            "tagB" : "cloud_container/StartMovingService"
        }
    ]
}