parameters.yml

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camera:
  viewAngle: 0.80   # rad
  Default:
    fov: 60 # deg
    near: 1
    far: 300
  Near:
    fov: 60
    near: 1
    far: 200
  Overhead:
    fov: 60
    near: 1
    far: 100
  Map:
    fov: 70
    near: 1
    far: 4000
  CameraView:
    fov: 30.5
    near: 1
    far: 1500
  laneWidth: 4.5 # original 3.32
  laneWidthToViewDistanceRatio: 5
ground:
  defaults:
    mpp: 0.125
    xres: 8192
    yres: 8192
    xorigin: 4096
    yorigin: 4096
    type: default # default or tile
    tileRange: 4
  sunnyvale_big_loop:
    mpp: 0.125
    xres: 24576
    yres: 16384
    xorigin: 587392
    yorigin: 4140800
    type: default # default or tile
    tileRange: 4
planning:
  # The minimum interval between two consecutive
  minInterval: 0.1
  defaults:
    width: 1.4
  pathProperties:
    default:
      width: 0.1
      color: 0xFFCE55 # yellow
      opacity: 1
      zOffset: 1.4
    trajectory:
      width: 0.8
      color: 0x01D1C1
      opacity: 0.65
      zOffset: 1
    planning_reference_line:
      width: 0.6
      color: 0xD85656
      opacity: 0.7
      zOffset: 1.1
    DpPolyPathOptimizer:
      width: 0.4
      color: 0x8DFCB4
      opacity: 0.8
      zOffset: 1.2
    PIECEWISE_JERK_PATH_OPTIMIZER:
      width: 0.2
      color: 0x36A2EB
      opacity: 1
      zOffset: 1.3
    planning_path_boundary_1:
      style: dash
      width: 0.1
      color: 0xF0FF00
      opacity: 1
      zOffset: 1.3
    planning_path_boundary_2:
      style: dash
      width: 0.1
      color: 0xF0FF00
      opacity: 1
      zOffset: 1.3
 
options:
  # side bar options
  showTasks:
    default: true
  showModuleController:
    default: false
  showMenu:
    default: false
  showRouteEditingBar:
    default: false
  showPOI:
    default: false
  showDataRecorder:
    default: false
  showProfile:
    default: false
 
  # task panel options
  showPNCMonitor:
    default: false
  showDataCollectionMonitor:
    default: false
  showFuelClient:
    default: false
  enableSimControl:
    default: false
  lockTaskPanel:
    default: false
  showVideo:
    default: false
 
  # teleop
  showConsoleTeleopMonitor:
      default: false
  showCarTeleopMonitor:
      default: false
 
  # layer Menu options
  cameraAngle:
    default: Default
    hasCameraView: false
  showDecisionMain:
    default: true
    menuId: decisionMain
  showDecisionObstacle:
    default: true
    menuId: decisionObstacle
  showPlanningTrajectory:
    default: true
    menuId: planningTrajectory
  showPlanningCar:
    default: false
    menuId: planningCar
  showPlanningRSSInfo:
    default: false
    menuId: rssInfo
  showRouting:
    default: true
    menuId: routing
  showPredictionMajor:
    default: true
    menuId: predictionMajor
  showPredictionMinor:
    default: true
    menuId: predictionMinor
  showGaussianInfo:
    default: false
    menuId: predictionGaussianInfo
  showPredictionPriority:
    default: true
    menuId: predictionPriority
  showPredictionInteractiveTag:
    default: true
    menuId: predictionInteractiveTag
  showPointCloud:
    default: false
    menuId: perceptionPointCloud
  showPerceptionLaneMarker:
    default: false
    menuId: perceptionLaneMarker
  showObstaclesVehicle:
    default: true
    menuId: perceptionVehicle
  showObstaclesPedestrian:
    default: true
    menuId: perceptionPedestrian
  showObstaclesBicycle:
    default: true
    menuId: perceptionBicycle
  showObstaclesUnknownMovable:
    default: true
    menuId: perceptionUnknownMovable
  showObstaclesUnknownUnmovable:
    default: true
    menuId: perceptionUnknownUnmovable
  showObstaclesUnknown:
    default: true
    menuId: perceptionUnknown
  showObstaclesVirtual:
    default: false
    menuId: perceptionVirtual
  showObstaclesCipv:
    default: true
    menuId: perceptionCipv
  showObstaclesVelocity:
    default: true
    menuId: perceptionVelocity
  showObstaclesHeading:
    default: true
    menuId: perceptionHeading
  showObstaclesId:
    default: true
    menuId: perceptionId
  showObstaclesInfo:
    default: true
    menuId: perceptionObstacleInfo
  showObstaclesLidarSensor:
    default: false
    menuId: perceptionLidarSensor
  showObstaclesRadarSensor:
    default: false
    menuId: perceptionRadarSensor
  showObstaclesCameraSensor:
    default: false
    menuId: perceptionCameraSensor
  showObstaclesV2xInfo:
    default: false
    menuId: perceptionV2xInfo
  showPositionGps:
    default: false
    menuId: positionGps
  showPositionLocalization:
    default: true
    menuId: positionLocalization
  showPositionShadow:
    default: false
    menuId: positionShadow
  showMapCrosswalk:
    default: true
    menuId: mapCrosswalk
  showMapClearArea:
    default: true
    menuId: mapClearArea
  showMapJunction:
    default: false
    menuId: mapJunction
  showMapPncJunction:
    default: false
    menuId: mapPncJunction
  showMapLane:
    default: true
    menuId: mapLane
  showMapRoad:
    default: false
    menuId: mapRoad
  showMapSignal:
    default: true
    menuId: mapSignal
  showMapStopSign:
    default: true
    menuId: mapStopSign
  showMapYield:
    default: true
    menuId: mapYield
  showMapSpeedBump:
    default: true
    menuId: mapSpeedBump
  showMapParkingSpace:
    default: true
    menuId: mapParkingSpace
  showMapLaneId:
    default: false
    menuId: mapLaneId
  showDefaultRoutingInput:
    default: false
  showCycleNumberInput:
    default: false
 
routingEditor:
  radiusOfMapRequest: 2000.0 # meters
 
navigation:
  # possible options: BaiduMap or GoogleMap
  map: "BaiduMap"
 
  # Google Map API: "https://maps.google.com/maps/api/js"
  # Baidu Map API: "https://api.map.baidu.com/api?v=3.0&ak=0kKZnWWhXEPfzIkklmzAa3dZ&callback=initMap"
  mapAPiUrl: "https://api.map.baidu.com/api?v=3.0&ak=0kKZnWWhXEPfzIkklmzAa3dZ&callback=initMap"
 
debug:
  # Turn this on for monitor related debugging
  autoMonitorMessage: false
  performanceMonitor: false
server:
  port: 8899