register_keys:
  # if off, allow connection even if usb connection is below usb 3.0
  # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
  strict_usb3.0_check: 0  # 0: off: 1: on;

  # 0: use odin internal system time as data time stamp, typical and recommended;
  # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users
  # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis
  use_host_ros_time: 2

  streamctrl: 1           # 0: off; 1: on

  # original rgb data in jpeg format from device
  sendrgbcompressed: 1    # 0: off; 1: on

  # RGB data, decoded from original jpeg data from device, bgr8 format
  # Processed on host device
  sendrgb: 1              # 0: off; 1: on

  # undistort rgb image processed from decoded rgb data.
  # depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
  # Processed on host device
  sendrgbundistort: 0     # 0: off; 1: on.

  # IMU data
  sendimu: 1              # 0: off; 1: on

  # Odometry data
  sendodom: 1             # 0: off; 1: on

  # TF from odom to base_link. Leave it on unless you specifically need it off.
  # ATTENTION: critical for rviz to show cloud_raw.
  send_odom_baselink_tf: 1 # 0: off; 1: on.

  # raw dtof data
  senddtof: 1             # 0: off; 1: on
  cloud_raw_confidence_threshold: 35 # please refer to readme for more details
  
  # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps)
  # Higher frame rate provides smoother point cloud data but may increase data bandwidth
  # Note: value is multiplied by 10 (e.g., 145 means 14.5fps)
  dtof_fps: 100           # 100: 10fps; 145: 14.5fps

  # slam cloud data
  sendcloudslam: 1        # 0: off; 1: on

  # processed with raw point cloud, rgb image, and calib.yaml from device
  # Processed on host device
  sendcloudrender: 1      # 0: off; 1: on

  # depth completion demo, high computing resource usage. 
  # for more information please refer to the readme file.
  # Processed on host device
  senddepth: 0            # 0: off; 1: on

  # cloud reprojection demo, projects cloud_slam to camera image using odometry
  # Processed on host device
  sendreprojection: 0    # 0: off; 1: on

  # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. 
  # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
  # ATTENTION: please copy the full folder for post-processing.
  recorddata: 0           # 0: off; 1: on

  # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
  devstatuslog: 1         # 0: off; 1: on.

  save_log: 0 # 0: off; 1: on; 

  # raw dtof sensor intensity data in gray format, mostly for debug purpose.
  pubintensitygray: 0     # 0: off; 1: on

  showpath: 0             # 0: off; 1: on
  showcamerapose: 0       # 0: off; 1: on
  
  custom_map_mode: 0      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
  custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
  relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail

  # To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1"
  mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/
  mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin