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iROSLink Docs (BETA)

Control Tab & Calibration

Control Tab — Settings & Calibration¶

These keys are exposed in the Control tab (Autonomous IDD mode). They control the robot's physical dimensions, sensor publishing rates, navigation behaviour, motor calibration, and autonomous actions.

Occupancy grid¶

Key	Type	Default	Description
`mapCellSize`	Double	`0.02` m	Grid cell resolution. Smaller = more detail, more CPU.
`loopRebuildThreshold`	Double	`0.15` m	Rebuild grid on loop closure only when SLAM correction exceeds this. `0` = always, `999` = never.
`autoDetectCamHeight`	Bool	`true`	Use LiDAR to auto-detect camera height above floor.
`gridCameraHeight`	Double	`10` cm	Fallback camera height when auto-detect has no reading.
`gridMaxObstHeight`	Double	`2` cm	Obstacles shorter than this are ignored (robot drives over them).
`gridRobotHeight`	Double	`50` cm	Points above this height are ignored (ceiling, mounted hardware).
`gridMapInterval`	Double	`1.0` s	Map rebuild interval. Keep ≥ 1 s for large maps.
`gridNormalsSegmentation`	Bool	`true`	Classify ground by surface normal angle. Detects stairs and drop-offs.

Robot body¶

Key	Type	Default	Description
`robotBodyLength`	Double	—	Robot body length (cm). Used for footprint inflation.
`robotBodyWidth`	Double	—	Robot body width (cm).
`cameraFromLeft`	Double	—	Camera offset from robot centre-left (cm).

Camera and publishing rates¶

Key	Type	Default	Description
`cameraSkip`	Int	`4`	Publish 1-in-N ARKit frames for camera topics (~4 Hz at default).
`imuSkip`	Int	`4`	Publish 1-in-N IMU samples. Default: 100 Hz ÷ 4 = 25 Hz.
`odomSkip`	Int	`2`	Publish 1-in-N odometry frames. Default: ~17 Hz ÷ 2 ≈ 8 Hz.
`imageTargetWidth`	Int	`320`	Target width (px) for RGB image resize before publish.
`jpegQuality`	Double	`0.75`	JPEG quality for `/camera/image_raw/compressed`. Range 0.0–1.0.
`topicCompressed`	Bool	`true`	Publish compressed image instead of raw.
`imuPublishThread`	Bool	`false`	Publish IMU on a dedicated background thread instead of the ARKit callback thread. Enable if IMU messages are jittery or delayed under heavy SLAM load.

Topic enable flags¶

Each flag is a Bool. Set to false to stop publishing that topic.

Key	Default	Topic	Notes
`topicIMU`	`true`	`/imu/data`	~25 Hz at default `imuSkip`
`topicGPS`	`true`	`/fix`	ARKit location, low rate
`topicOdom`	`true`	`/odom`	~8 Hz at default `odomSkip`
`topicTF`	`true`	`/tf`	Transform tree, published with odometry
`topicTFStatic`	`true`	`/tf_static`	Static frames, published once on connect
`topicImage`	`false`	`/camera/image_raw` or `/camera/image_raw/compressed`	High bandwidth — keep disabled unless needed
`topicDepth`	`true`	`/camera/depth/image_raw`	Raw 16-bit depth image
`topicCamInfo`	`true`	`/camera/camera_info`	Intrinsics, required for 3D tools
`topicPoints`	`true`	`/camera/depth/points`	Per-frame point cloud (~4 Hz)
`topicMap`	`true`	`/map`	Occupancy grid, rebuilt at `gridMapInterval`
`topicCostMap`	`true`	`/cost_map`	Inflated cost map for navigation
`topicCleanPlan`	`true`	`/clean_plan`	Coverage path, Autonomous IDD only
`topicCleanMap`	`true`	`/clean_map`	Cleaned-area map, Autonomous IDD only
`topicPhoneHeight`	`true`	`/phone/height`	LiDAR-measured phone height above floor
`topicDiag`	`true`	`/diag/*`	CPU, RAM, speed, yaw rate at 0.1 Hz
`topicRobotDesc`	`true`	`/robot_description`	URDF string, latched once on connect
`publishDebugLog`	`true`	`/debug`	ROS Log messages mirrored from OSLog

/cloud_map is enabled via cloudMapEnabled in Settings → SLAM Quality, not a topic flag. It is gated at the C++ bridge level — see Configuration → Cloud map.

Key	Type	Default	Description
`driveMaxSpeedCmS`	Double	`20`	Max linear drive speed (cm/s).
`driveMaxTurnDPS`	Double	`60`	Max turn rate (deg/s).
`driveCleanSpeedCmS`	Double	`10`	Speed during clean mode (cm/s). Slower than explore for better coverage overlap.
`driveGoalTol`	Double	`0.15` m	Distance at which goal is declared reached.
`driveAllowUnknown`	Bool	`false`	Allow path planning through unknown (unmapped) cells. Enable for frontier exploration.
`driveUnknownCost`	Double	`10`	Cost penalty per unknown cell when `driveAllowUnknown` is on. Raise to make planner hug known space.
`costInflateRadiusM`	Double	`0.20` m	Obstacle inflation radius on cost map. Should be ≥ half of robot body width for safe clearance.
`wallCostWeight`	Double	`1.0`	Multiplier for wall-proximity penalty. Raise to push paths further from walls.
`driveStuckEnabled`	Bool	`true`	Enable stuck detection. Triggers recovery spin when robot stops making progress.
`driveStuckTimeout`	Double	`3.0` s	Seconds without progress before declaring stuck (normal speed).
`driveStuckFastTimeout`	Double	`1.0` s	Seconds without progress at fast speed before declaring stuck.
`driveLookaheadM`	Double	`0.40` m	Pure-pursuit lookahead distance. Larger = smoother but cuts corners.
`driveHeadingGain`	Double	`1.5`	Proportional gain for heading correction during straight drives.
`driveRotationTimeout`	Double	`5.0` s	Max seconds to rotate in-place toward a new goal before aborting.

Motor calibration¶

Key	Description
`calLinDeadband`	Linear speed deadband (below this, motor output = 0).
`calLinGain`	Linear speed scale factor.
`calLinMinCmS` / `calLinMaxCmS`	Min/max linear output clamps.
`calAngDeadband`	Angular speed deadband.
`calAngGain`	Angular speed scale factor.
`calAngMinDPS`	Min angular output.
`calYawDriftTrim`	Yaw drift trim (compensates hardware asymmetry).
`calStraightBiasRate`	Straight-line bias correction rate.
`calLinKp` / `calLinKi`	Linear PI gains.
`calAngKp` / `calAngKi`	Angular PI gains.
`driveLinPIEnabled`	Enable linear PI controller.
`driveAngPIEnabled`	Enable angular PI controller.

Autonomous behaviours¶

Key	Type	Default	Description
`exploreTimeout`	Double	—	Max seconds per frontier attempt before moving on.
`exploreSpinDPS`	Double	—	Spin rate during explore recovery (deg/s).
`cleanAreaWidth`	Double	—	Coverage strip width for clean mode (m).
`cleanFanSpeed`	Double	—	Suction fan speed during clean (0.0–1.0).
`pickupPauseEnabled`	Bool	`true`	Pause SLAM when phone is lifted.
`pickupHeightThresh`	Double	`0.08` m	Height jump threshold for pickup detection.

Gamepad buttons¶

Key	Type	Default	Description
`btnTopic0`	String	`/button/btn0`	Topic published when gamepad button 0 is pressed.
`btnTopic1`	String	`/button/btn1`
`btnTopic2`	String	`/button/btn2`
`btnTopic3`	String	`/button/btn3`

Joystick / Control¶

Key	Type	Default	Description
`joystickMaxLinear`	Double	`20` cm/s	Max forward speed sent by the on-screen joystick.
`joystickMaxAngular`	Double	`60` deg/s	Max turn rate from the on-screen joystick.
`cmdVelHz`	Double	`10`	Rate at which `/cmd_vel` is published while joystick is active (Hz).
`joystickCalibrated`	Bool	`false`	Set `true` after completing motor calibration — unlocks full speed range in autonomous mode.

Battery display¶

Key	Type	Default	Description
`batteryMinV`	Double	`10.5` V	Voltage mapped to 0% on the battery bar.
`batteryMaxV`	Double	`12.6` V	Voltage mapped to 100%. Set to your pack's fully-charged voltage.

→ Configuration Keys — Settings tab keys (mode, Zenoh, SLAM quality)
→ Data Tab — Maps & Config — save/load config and maps