BEGIN TRANSACTION;
CREATE TABLE config (
  path      TEXT NOT NULL,
  type      TEXT NOT NULL,
  value     NOT NULL,
  comment   TEXT,
  PRIMARY KEY (path)
);
INSERT INTO "config" VALUES('/fawkes/mainapp/blackboard_size','unsigned int','2097152','Size of BlackBoard memory segment; bytes');
INSERT INTO "config" VALUES('/fawkes/mainapp/desired_loop_time','unsigned int',33333,'Desired loop time of main thread, 0 to disable; microseconds');
INSERT INTO "config" VALUES('/fawkes/mainapp/max_thread_time','unsigned int',66666,'Maximum time a thread may run per loop, 0 to disable; microseconds');
INSERT INTO "config" VALUES('/fawkes/mainapp/net/tcp_port','unsigned int',1910,'Port for Fawkes Network Protocol service; TCP port');
INSERT INTO "config" VALUES('/fawkes/mainapp/net/service_name','string','Fawkes on %h','Name for Fawkes service, announced via Avahi, %h is replaced by short hostname');
INSERT INTO "config" VALUES('/fawkes/meta_plugins/nao_default','string','naoqi-motion,naoqi-speechsynth,naoqi-buttons,naoqi-leds','Meta plugin loaded by default on the Nao (and on the Nao only)');
INSERT INTO "config" VALUES('/fawkes/meta_plugins/robotino_default','string','robotino,joystick,robotino-joystick,webview','Example default meta plugin for the Robotino');
INSERT INTO "config" VALUES('/fawkes/bbsync/check_interval','unsigned int',5000,'Interval between checking for remote BB aliveness; ms');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/host','string','localhost','Host name of remote peer; hostname');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/port','unsigned int',1911,'Port of remote peer; TCP port');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/active','bool','1','Is peer active? If omitted 1 is assumed.');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/check_interval','unsigned int',1000,'Interval in which to check for aliveness, if omitted defaults to 5 seconds; ms');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/reading/laser','string','Laser360Interface::Laser','Interface to synchronize, reading instance on remote, mapped to remote instance locally');
INSERT INTO "config" VALUES('/fawkes/bbsync/peers/localhost/reading/speechsynth','string','SpeechSynthInterface::Flite',NULL);
INSERT INTO "config" VALUES('/firevision/fountain/tcp_port','unsigned int',2208,'Fountain TCP Port; TCP port');
INSERT INTO "config" VALUES('/firevision/retriever_example/camera/cam0','string','file:file:file=../../RCSoft5/src/modules/robocup/firevision/images/office-ball-kabel-wirrwarr.raw',NULL);
INSERT INTO "config" VALUES('/firevision/retriever_example/camera/cam0/frame','string','/camera_link','Camera coordinate frame ID');
INSERT INTO "config" VALUES('/worldinfo/multicast_addr','string','224.16.0.1','Multicast address to send world info messages to.');
INSERT INTO "config" VALUES('/worldinfo/udp_port','unsigned int','2806','UDP port to listen for and send world info messages to; UDP port');
INSERT INTO "config" VALUES('/worldinfo/encryption_key','string','AllemaniACsX0rz','Default encryption key for world info.');
INSERT INTO "config" VALUES('/worldinfo/encryption_iv','string','DoesAnyOneCare','Default encryption initialization vector for world info.');
INSERT INTO "config" VALUES('/worldinfo/enable_fatmsg','bool','0','Send legacy fat message?');
INSERT INTO "config" VALUES('/worldinfo/sleep_time_msec','unsigned int','10','Time to sleep between two send/receive operations; miliseconds');
INSERT INTO "config" VALUES('/worldinfo/max_msgs_per_recv','unsigned int','20','Maximum number of messages to process per receive');
INSERT INTO "config" VALUES('/worldinfo/flush_time_sec','unsigned int','5','Time of inactivity after which the world info message sequence number is resetted; sec');
INSERT INTO "config" VALUES('/worldinfo/multicast_loopback','bool','1','Enable loopback for multicast messages?');
INSERT INTO "config" VALUES('/webview/port','unsigned int','8088','TCP port for Webview HTTP requests; TCP port');
INSERT INTO "config" VALUES('/webview/use_ssl','bool',0,'Encrypt connections?');
INSERT INTO "config" VALUES('/webview/ssl_create','bool',1,'Create self-signed certificate if key and certificate files not found?');
INSERT INTO "config" VALUES('/webview/ssl_key','string','webview.key','Key file name, if not absolute relative to config dir.');
INSERT INTO "config" VALUES('/webview/ssl_cert','string','webview.crt','Certificate file name, if not absolute relative to config dir.');
INSERT INTO "config" VALUES('/webview/use_basic_auth','bool',0,'Use basic authentication?');
INSERT INTO "config" VALUES('/webview/users/fawkes','string','fawkes','Example user, delete or change password!');
INSERT INTO "config" VALUES('/xmlrpc/port','unsigned int','3008','TCP port for XML-RPC HTTP requests; TCP port');
INSERT INTO "config" VALUES('/ballposlog/log_level','unsigned int','0','Log level for ballposlog example plugin; sum of any of debug=0, info=1, warn=2, error=4, none=8');
INSERT INTO "config" VALUES('/skiller/skillspace','string','nao','Skill space');
INSERT INTO "config" VALUES('/skiller/watch_files','bool',1,'Watch lua files for modification and automatically reload Lua if files have been changed; true to enable');
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/navigator','string','NavigatorInterface::Navigator',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/pose','string','ObjectPositionInterface::WM Pose',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/speechsynth','string','SpeechSynthInterface::Flite',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/katanaarm','string','KatanaInterface::Katana',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/ptu_RX28','string','PanTiltInterface::PanTilt RX28',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/test/reading/ptu_EviD100P','string','PanTiltInterface::PanTilt EviD100P',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/navigator','string','NavigatorInterface::Navigator',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/pose','string','ObjectPositionInterface::WM Pose',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/wm_ball','string','ObjectPositionInterface::WM Ball',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/gamestate','string','GameStateInterface::WM GameState',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/speechsynth','string','SpeechSynthInterface::Nao SpeechSynth',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/naomotion','string','HumanoidMotionInterface::NaoQi Motion',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/naosensors','string','NaoSensorInterface::Nao Sensors',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/naostiffness','string','NaoJointStiffnessInterface::Nao Joint Stiffness',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/naojoints','string','NaoJointPositionInterface::Nao Joint Positions',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/chestbutton','string','SwitchInterface::Nao Button Chest',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/lfootbumper','string','SwitchInterface::Nao Button Foot Left',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/rfootbumper','string','SwitchInterface::Nao Button Foot Right',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/chestled_blue','string','LedInterface::Nao LED ChestBoard/Blue',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/chestled_red','string','LedInterface::Nao LED ChestBoard/Red',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/chestled_green','string','LedInterface::Nao LED ChestBoard/Green',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/lfootled_blue','string','LedInterface::Nao LED LFoot/Blue',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/lfootled_red','string','LedInterface::Nao LED LFoot/Red',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/lfootled_green','string','LedInterface::Nao LED LFoot/Green',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/rfootled_blue','string','LedInterface::Nao LED RFoot/Blue',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/rfootled_red','string','LedInterface::Nao LED RFoot/Red',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/rfootled_green','string','LedInterface::Nao LED RFoot/Green',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/ear_leds','string','LedInterface::Nao LED Ears/*/*',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/face_leds','string','LedInterface::Nao LED Face/*/*/*',NULL);
INSERT INTO "config" VALUES('/skiller/interfaces/nao/reading/penalty','string','SoccerPenaltyInterface::SPL Penalty',NULL);
INSERT INTO "config" VALUES('/luaagent/agent','string','naojoystick',NULL);
INSERT INTO "config" VALUES('/luaagent/watch_files','bool',1,NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/joystick','string','JoystickInterface::Joystick',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/naosensors','string','NaoSensorInterface::Nao Sensors',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/naomotion','string','HumanoidMotionInterface::NaoQi Motion',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/naojoints','string','NaoJointPositionInterface::Nao Joint Positions',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/naostiffness','string','NaoJointStiffnessInterface::Nao Joint Stiffness',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/wm_ball','string','ObjectPositionInterface::WM Ball',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/chestbutton','string','SwitchInterface::Nao Button Chest',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/lfootbumper','string','SwitchInterface::Nao Button Foot Left',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/rfootbumper','string','SwitchInterface::Nao Button Foot Right',NULL);
INSERT INTO "config" VALUES('/luaagent/interfaces/naojoystick/reading/penalty','string','SoccerPenaltyInterface::SPL Penalty',NULL);
INSERT INTO "config" VALUES('/worldmodel/confspace','string','trunk',NULL);
INSERT INTO "config" VALUES('/worldmodel/wi_send/trunk/enable_send','bool','0','Enable sending of world info messages?');
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/pose/type','string','ObjectPositionInterface',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/pose/from_id','string','Pose',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/pose/to_id','string','WM Pose',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/pose/method','string','copy',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/obstacles/type','string','ObjectPositionInterface',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/obstacles/from_id','string','*Obstacle*',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/obstacles/to_id','string','WM Obstacle %u',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/obstacles/method','string','copy',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/ball/type','string','ObjectPositionInterface',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/ball/from_id','string','*Ball*',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/ball/to_id','string','WM Ball',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/ball/method','string','average',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/gamestate/type','string','GameStateInterface',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/gamestate/from_id','string','WI GameState',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/gamestate/to_id','string','WM GameState',NULL);
INSERT INTO "config" VALUES('/worldmodel/interfaces/trunk/gamestate/method','string','copy',NULL);
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/type','string','RX28','Type of PTU; one of RX28, EviD100P and DirectedPerceptionASCII');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/active','bool','1','Is this PTU active?');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/device','string','/dev/ttyUSB0','Device file for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/read_timeout_ms','unsigned int',30,'Read timeout for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/discover_timeout_ms','unsigned int',30,'Discover timeout for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_servo_id','unsigned int',1,'Pan servo ID for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_servo_id','unsigned int',2,'Tilt servo ID for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_offset','float',24.05,'Pan offset for RX28 PTU; deg');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_offset','float',3.56,'Tilt zero offset for RX28 PTU; deg');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/turn_off','bool','1','Turn off RX28 PTU when unloading the plugin?');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/goto_zero_start','bool','1','Move RX28 PTU to (0,0) on start?');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/cw_compl_margin','unsigned int',0,'Clockwise compliance margin for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/ccw_compl_margin','unsigned int',0,'Counter-clockwise compliance margin for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/cw_compl_slope','unsigned int',96,'Clockwise compliance slope for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/ccw_compl_slope','unsigned int',96,'Counter-clockwise compliance slope for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_min','float',-2.2,'Minimum pan for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_max','float',2.2,'Maximum pan for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_min','float',-1.6,'Minimum tilt for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_max','float',1.6,'Maximum tilt for RX28 PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_margin','float',0.1,'Angle distance between desired and actual pan value to consider RX28 PTU motion finished; rad');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_margin','float',0.1,'Angle distance between desired and actual tilt value to consider RX28 PTU motion finished; rad');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/frame_id_prefix','string','rx28','Frame ID base string; will be prefixed by / if missing; and suffixed with /base, /pan, and /tilt repsectively');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_trans_x','float',-0.002,'PAN servo base to joint translation X; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_trans_y','float',0.0,'PAN servo base to joint translation Y; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_trans_z','float',0.042,'PAN servo base to joint translation Z; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_trans_x','float',0.0,'TILT servo base to joint translation X; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_trans_y','float',0.0,'TILT servo base to joint translation Y; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_trans_z','float',0.039,'TILT servo base to joint translation Z; m');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/pan_start','float',0.0,'PAN default start; rad');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/RX28/tilt_start','float',0.0,'TILT default start; rad');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/EviD100P/type','string','EviD100P','Type of PTU; one of RX28, EviD100P and DirectedPerceptionASCII');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/EviD100P/active','bool','0','Is this PTU active?');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/EviD100P/device','string','/dev/ttyUSB1','Device file for EviD100P PTU');
INSERT INTO "config" VALUES('/hardware/pantilt/ptus/EviD100P/read_timeout_ms','unsigned int',50,'Read timeout for EviD100P PTU');
INSERT INTO "config" VALUES('/hardware/joystick/device_file','string','/dev/input/js0','Joystick device file');
INSERT INTO "config" VALUES('/hardware/katana/controller','string','kni','Controller for the katana arm. Needs to be one of these values: "kni", "openrave".');
INSERT INTO "config" VALUES('/hardware/katana/device','string','/dev/ttyUSB0','Device file of serial port the arm is connected to; file path');
INSERT INTO "config" VALUES('/hardware/katana/auto_calibrate','bool','1','Automatically calibrate on startup?');
INSERT INTO "config" VALUES('/hardware/katana/kni_conffile','string','/etc/kni3/hd300/katana6M180.cfg','KNI configuration file; file path');
INSERT INTO "config" VALUES('/hardware/katana/default_max_speed','unsigned int',100,'Default maximum robot arm velocity, can be overridden via BB; [0..255]');
INSERT INTO "config" VALUES('/hardware/katana/read_timeout_msec','unsigned int',100,'Timeout for read operations; ms');
INSERT INTO "config" VALUES('/hardware/katana/write_timeout_msec','unsigned int',0,'Timeout for write operations; ms');
INSERT INTO "config" VALUES('/hardware/katana/gripper_pollint_msec','unsigned int',50,'Interval between gripper final checks; ms');
INSERT INTO "config" VALUES('/hardware/katana/goto_pollint_msec','unsigned int',50,'Interval between goto final checks; ms');
INSERT INTO "config" VALUES('/hardware/katana/park_x','float',66.863892,'X position for parking');
INSERT INTO "config" VALUES('/hardware/katana/park_y','float',16.27648,'Y position for parking');
INSERT INTO "config" VALUES('/hardware/katana/park_z','float',442.759186,'Z position for parking');
INSERT INTO "config" VALUES('/hardware/katana/park_phi','float',1.809579,'Phi position for parking');
INSERT INTO "config" VALUES('/hardware/katana/park_theta','float',0.357964,'Theta position for parking');
INSERT INTO "config" VALUES('/hardware/katana/park_psi','float',-0.271071,'Psi position for parking');
INSERT INTO "config" VALUES('/hardware/katana/distance_scale','float',0.001,'Scale from kni coordinate values to fawkes');
INSERT INTO "config" VALUES('/hardware/katana/update_interval','float',0.5,'Interval to update the motor position data even if there is no act thread running, required for tf; sec');
INSERT INTO "config" VALUES('/hardware/katana/openrave/enabled','bool','0','Use OpenRAVE support?');
INSERT INTO "config" VALUES('/hardware/katana/openrave/use_viewer','bool','1','Use OpenRAVE qtcoin viewer (i.e. see 3D robot model)?');
INSERT INTO "config" VALUES('/hardware/katana/openrave/auto_load_ik','bool','1','Automatically generate IK database for OpenRAVE robot model?');
INSERT INTO "config" VALUES('/hardware/katana/openrave/robot_file','string','../fawkes/res/openrave/caesar.robot.xml','robot.xml file to be loaded into OpenRAVE');
INSERT INTO "config" VALUES('/hardware/katana/openrave/arm_model','string','5dof','choose which arm model should be used, default 5dof-katana from OpenRAVE, or our 6dof-katana with dummy joint. Needs to be one of these: "5dof", "6dof_dummy"');
INSERT INTO "config" VALUES('/hardware/laser/urg/active','bool',0,'Enable this configuration?');
INSERT INTO "config" VALUES('/hardware/laser/urg/type','string','urg','Configuration is for Hokuyo URG laser range finder using URG library');
INSERT INTO "config" VALUES('/hardware/laser/urg/device','string','/dev/ttyACM0','Device file');
INSERT INTO "config" VALUES('/hardware/laser/urg/frame','string','/base_laser','Coordinate frame in which the laser data is published');
INSERT INTO "config" VALUES('/hardware/laser/urg_gbx/active','bool',0,'Enable this configuration?');
INSERT INTO "config" VALUES('/hardware/laser/urg_gbx/type','string','urg_gbx','Configuration is for Hokuyo URG laser range finder using the Gearbox library');
INSERT INTO "config" VALUES('/hardware/laser/urg_gbx/device','string','/dev/ttyACM0','Device file');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/active','bool',0,'Enable this configuration?');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/main_sensor','bool',1,'Make this the default sensor, i.e. interface ID "Laser"?');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/frame','string','/base_laser','Coordinate frame in which the laser data is published');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/clockwise_angle','bool',1,'Reverse default angle direction to clockwise?');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/type','string','lase_edl','Configuration is for Lase EDL laser range finder');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/interface_type','string','usb','Interface type, currently only usb');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/use_default','bool',0,'Use default settings from flash?');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/set_default','bool',0,'Store default settings in flash?');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/canonical_resolution','string','high','Canonical resolution, if set overrides rotation_freq and angle_step; one of low (1 deg, 20 Hz) or high (0.5 deg, 15 Hz)');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/rotation_freq','unsigned int',20,'Maximum rotation frequency; Hz');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/angle_step','unsigned int',16,'Angle step; 1/16th degree');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/max_pulse_freq','unsigned int',10800,'Max pulse frequency; Hz');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/profile_format','unsigned int',256,'Profile format, 0x0100 only distances, 0x0400 only echoes, 0x0500 both');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/can_id','unsigned int',683,'CAN ID of laser');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/can_id_resp','unsigned int',1808,'CAN ID response');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/sensor_id','unsigned int',16,'Sensor ID in laser');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/sensor_id_resp','unsigned int',3,'Sensor ID response');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/btr0btr1','unsigned int',20,'Baud rate key, 0x14 for 1 MBit/s');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/port','unsigned int',0,'Port, 0 for default');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/irq','unsigned int',0,'IRQ, 0 for default');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/num_init_tries','unsigned int',5,'Number of times to try initialization');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/mount_rotation','float',180,'Rotation of the laser towards front; degree');
INSERT INTO "config" VALUES('/hardware/laser/lase_edl/use_dead_spots_filter','bool','0','If true, the fflaser_calibrate tool must be used to gain information about dead spots, which are then extracted with a filter');
INSERT INTO "config" VALUES('/hardware/roomba/connection_type','string','serial','Connection type to use, one of rootooth or serial');
INSERT INTO "config" VALUES('/hardware/roomba/mode','string','safe','Operating mode, one of passive, safe, or full');
INSERT INTO "config" VALUES('/hardware/roomba/device','string','/dev/ttyUSB0','Device file for the serial connection to the Roomba.');
INSERT INTO "config" VALUES('/hardware/roomba/btname','string','FireFly-*','Bluetooth name pattern of RooTooth.');
INSERT INTO "config" VALUES('/hardware/roomba/bttype','string','firefly','Hardware type of RooTooth. New Sparkfun models are firefly, older RoboDynamics ones are mitsumi (currently untested).');
INSERT INTO "config" VALUES('/hardware/roomba/btsave','bool',1,'If RooTooth is auto-detected, save bluetooth address to config for faster connection next time.');
INSERT INTO "config" VALUES('/hardware/roomba/btfast','bool',1,'Try to enable fast mode on startup. Startup takes longer. Disable if you have RooTooth powered on most of the time anyway and not plug it in just before you launch. Only supported for FireFly RooTooth.');
INSERT INTO "config" VALUES('/hardware/roomba/query_mode','bool',1,'Query data in each loop instead of streaming. More reliably with RooTooth, can be disabled for serial connection for slightly better performance.');
INSERT INTO "config" VALUES('/hardware/roomba/play_fanfare','bool',1,'Play fanfare when connection has been established. Disable when testing late at night...');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_main_brush','unsigned int',1,'Button bit for main brush button.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_side_brush','unsigned int',2,'Button bit for side brush button.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_vacuuming','unsigned int',4,'Button bit for vacuuming button.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_dock','unsigned int',8,'Button bit for dock button.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_spot','unsigned int',16,'Button bit for spot cleaning.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/but_mode','unsigned int',32,'Button bit for setting the mode.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/axis_forward','unsigned int',0,'Axis index for forward/backward axis.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/axis_sideward','unsigned int',1,'Axis index for sideward/turn movement.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/axis_speed','unsigned int',2,'Axis index for speed setting.');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/min_radius','unsigned int',250,'Minimum radius value for driving an arc; mm');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/max_radius','unsigned int',1500,'Maximum radius value for driving an arc; mm');
INSERT INTO "config" VALUES('/hardware/roomba/joystick/max_velocity','unsigned int',500,'Maximum linear velocity; mm/sec');
INSERT INTO "config" VALUES('/hardware/robotino/hostname','string','127.0.0.1','Hostname to connect to');
INSERT INTO "config" VALUES('/hardware/robotino/quit_on_disconnect','bool',1,'If true quit Fawkes on disconnect from Robotino Com server, otherwise retry connection. If run from LCD menu should be set to true.');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/axis_forward','unsigned int',1,'Axis index for forward/backward movement.');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/axis_sideward','unsigned int',0,'Axis index for sideward movement.');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/axis_rotation','unsigned int',3,'Axis index for rotational movement.');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/max_vx','float',1.5,'Maximum velocity forward; m/s');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/max_vy','float',1.5,'Maximum velocity sideward; m/s');
INSERT INTO "config" VALUES('/hardware/robotino/joystick/max_omega','float',1.57,'Maximum rotation; rad/s');
INSERT INTO "config" VALUES('/hardware/nao/chestbut_triple_long_click_shutdown','bool',1,'If true, triple long click on chest button causes shutdown. This requires the SetUID bit to be set on /sbin/poweroff (or whatever it links to).');
INSERT INTO "config" VALUES('/plugins/laserht/laser_interface_id','string','Laser','Interface ID of the Laser360Interface to get data from');
INSERT INTO "config" VALUES('/plugins/laserht/line/num_samples','unsigned int',12,'Number of samples to take per data point on the range of 180 deg');
INSERT INTO "config" VALUES('/plugins/laserht/line/r_scale','float',0.02,'Distance scale for r parameter of line; m');
INSERT INTO "config" VALUES('/plugins/laserht/line/enable_display','bool',1,'Enable debugging display via VisualDisplay2DInterface::LaserGUI');
INSERT INTO "config" VALUES('/plugins/laserht/line/vote_threshold','unsigned int',50,'Minimum number of votes for a line to consider it');
INSERT INTO "config" VALUES('/plugins/laserht/line/dist_threshold','float',0.05,'Max. distance between line found via HT and a laser reading to consider it for line fitting; m');
INSERT INTO "config" VALUES('/plugins/laserht/line/fitting_error_threshold','float',20,'Max. error allowed in the fitting step');
INSERT INTO "config" VALUES('/plugins/festival/voice','string','nitech_us_bdl_arctic_hts','Voice to use for Festival speech synth');
INSERT INTO "config" VALUES('/fawkes/bblogger/scenario','string','qatest','Current logging scenario');
INSERT INTO "config" VALUES('/fawkes/bblogger/generate_replay_config','bool',1,'Automatically create a configuration for replay?');
INSERT INTO "config" VALUES('/fawkes/bblogger/qatest/buffering','bool',1,'Enable buffering for this scenario?');
INSERT INTO "config" VALUES('/fawkes/bblogger/qatest/flushing','bool',0,'Flush file stream after each chunk? Can severely influence performance, but when enabled allows real-time log watching.');
INSERT INTO "config" VALUES('/fawkes/bblogger/qatest/interfaces/test','string','TestInterface::BBLoggerTest',NULL);
INSERT INTO "config" VALUES('/fawkes/bblogreplay/scenario','string','qatest','specify scenario for log replay');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/loop','bool',0,'Loop replay by default?');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/non_blocking','bool',0,'Non-blocking replay in blocked timing mode by default?');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/grace_period','float',0.001,'Grace period for differences in offset and elapsed time to still allow replay');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/qatest/logs/qatest/file','string','laser-Laser360Interface-Laser-2010-02-21-22-22-29.log','log file to be replayed if scenario specified');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/qatest/logs/qatest/loop','bool',1,'loop the replay on default for the scenario');
INSERT INTO "config" VALUES('/fawkes/bblogreplay/qatest/logs/qatest/hook','string','sensor','Hook at which to replay the log data');
INSERT INTO "config" VALUES('/plugins/refboxcomm/processor','string','RemoteBB','Processor to use to connect to refbox, one of MSL, SPL and RemoteBB');
INSERT INTO "config" VALUES('/plugins/refboxcomm/beep_on_change','bool',1,'Beep when data is received that changes the game state?');
INSERT INTO "config" VALUES('/plugins/refboxcomm/beep_duration','float',0.5,'Beep duration; sec');
INSERT INTO "config" VALUES('/plugins/refboxcomm/beep_frequency','float',2000,'Beep frequency; Hz');
INSERT INTO "config" VALUES('/plugins/refboxcomm/MSL/host','string','230.0.0.1','Multicast address the MSL refbox sends to');
INSERT INTO "config" VALUES('/plugins/refboxcomm/MSL/port','unsigned int',30000,'The UDP port the MSL refbox multicasts to');
INSERT INTO "config" VALUES('/plugins/refboxcomm/SPL/port','unsigned int',3838,NULL);
INSERT INTO "config" VALUES('/plugins/refboxcomm/RemoteBB/host','string','localhost','The host to connect to for the remote blackboard');
INSERT INTO "config" VALUES('/plugins/refboxcomm/RemoteBB/port','unsigned int',1911,'Port on the remote host to connect to');
INSERT INTO "config" VALUES('/plugins/refboxcomm/RemoteBB/interface_id','string','RefBoxComm','Interface of the GameStateInterface on the remote blackboard');
INSERT INTO "config" VALUES('/plugins/openni/resolution','string','VGA','Resolution, one of QQVGA, CGA, VGA, XVGA, XGA, 720P, SXGA, UXGA, 1080P');
INSERT INTO "config" VALUES('/plugins/openni/fps','unsigned int',30,'Desired frames per second');
INSERT INTO "config" VALUES('/plugins/openni/register_depth_image','bool',1,'True to enable depth to image registration, false to disable');
INSERT INTO "config" VALUES('/plugins/openni/run_sensor_server','bool',1,'Should we spawn the sensor server and maintain it? This solves the problem that the XnSensorServer process is not stopped by OpenNI.');
INSERT INTO "config" VALUES('/plugins/openni/sensor_server_bin','string','/usr/bin/XnSensorServer','Full path to the XnSensorServer binary; path');
INSERT INTO "config" VALUES('/plugins/openni-image/debayering','string','bilinear','De-bayering mode, can be bilinear or nearest_neighbor');
INSERT INTO "config" VALUES('/plugins/static-transforms/update-interval','float',1.0,'Interval in which to post static transform updates; sec');
INSERT INTO "config" VALUES('/plugins/static-transforms/transforms/katana_kni/frame','string','/katana/base','Katana Arm to KNI base, parent frame ID');
INSERT INTO "config" VALUES('/plugins/static-transforms/transforms/katana_kni/child_frame','string','/katana/kni','Katana Arm to KNI base, child frame ID');
INSERT INTO "config" VALUES('/plugins/static-transforms/transforms/katana_kni/trans_x','float',0.0,'Katana Arm to KNI base, translation X');
INSERT INTO "config" VALUES('/plugins/static-transforms/transforms/katana_kni/trans_y','float',0.0,'Katana Arm to KNI base, translation Y');
INSERT INTO "config" VALUES('/plugins/static-transforms/transforms/katana_kni/trans_z','float',0.2015,'Katana Arm to KNI base, translation Z');
INSERT INTO "config" VALUES('/perception/tabletop-objects/depth_filter_min_x','float',0.0,'Minimum X value (i.e. distance to camera) to consider a point; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/depth_filter_max_x','float',3.0,'Maximum X value (i.e. distance to camera) to consider a point; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/voxel_leaf_size','float',0.02,'Leaf size for voxel grid downsampling; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_segmentation_max_iterations','unsigned int',1000,'Maximum number of iterations to perform for table segmentation');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_segmentation_distance_threshold','float',0.022,'Segmentation distance threshold; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_segmentation_inlier_quota','float',0.12,'Minimum size of fraction of points that must be inliers to consider a table; 0.0..1.0');
INSERT INTO "config" VALUES('/perception/tabletop-objects/max_z_angle_deviation','float',0.1,'Maximum angle between Z axis and table normal, takes normal direction into account; rad');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_min_height','float',0.6,'Minimum required height of table; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_max_height','float',0.9,'Maximum height of table; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_model_width','float',0.8,'Table model width, i.e. if the robot is standing in front of the longer edge of the table the distance between the close and the far edge; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_model_length','float',1.6,'Table model length, i.e. if the robot is standing in front of the longer edge of the table the distance between the left and the right edge; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/table_model_step','float',0.05,'Inter-Point step size for creating the table model point cloud; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/cluster_tolerance','float',0.044,'Clustering inter-point distance tolerance; m');
INSERT INTO "config" VALUES('/perception/tabletop-objects/cluster_min_size','unsigned int',20,'Minimum number of points in cluster to consider');
INSERT INTO "config" VALUES('/perception/tabletop-objects/cluster_max_size','unsigned int',200,'Minimum number of points in cluster to consider');
INSERT INTO "config" VALUES('/perception/tabletop-objects/result_frame','string','/base_link','The frame in which the result should be published; frame');
INSERT INTO "config" VALUES('/perception/tabletop-objects/visualization/show_frustrum','bool',1,'Show the frustrum according to configured horizontal and vertical viewing angle.');
INSERT INTO "config" VALUES('/perception/tabletop-objects/visualization/show_convex_hull_vertices','bool',1,'Show text with convex hull vertex IDs?');
INSERT INTO "config" VALUES('/perception/tabletop-objects/visualization/show_convex_hull_line_highlighting','bool',1,'Show highlighted hull lines to understand edge selection? Otherwise plain hull is shown.');
INSERT INTO "config" VALUES('/perception/tabletop-objects/visualization/show_convex_hull_vertex_ids','bool',1,'Show text with convex hull vertex IDs?');
INSERT INTO "config" VALUES('/perception/tabletop-objects/visualization/display_duration','unsigned int',120,'Time to show marker elements when not updated. Useful to still analyze the seen after program has been terminated; sec');
INSERT INTO "config" VALUES('/perception/tabletop-objects/horizontal_viewing_angle','float',57.0,'Horizontal viewing angle of the camera, used for frustrum, value is for Kinect; deg');
INSERT INTO "config" VALUES('/perception/tabletop-objects/vertical_viewing_angle','float',43.0,'Vertical viewing angle of the camera, used for frustrum, value is for Kinect; deg');
INSERT INTO "config" VALUES('/plugins/amcl/map_file','string','map.png','Image file containing the map, must be a PNG file and a path relative to the config dir');
INSERT INTO "config" VALUES('/plugins/amcl/resolution','float',0.05,'Resolution of the map; meters per pixel ');
INSERT INTO "config" VALUES('/plugins/amcl/origin_x','float',0.0,'The X coordinate of the 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation) around Z axis. Many parts of the system currently ignore yaw.; m');
INSERT INTO "config" VALUES('/plugins/amcl/origin_y','float',0.0,'The Y coordinate of the 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation) around Z axis. Many parts of the system currently ignore yaw.; m');
INSERT INTO "config" VALUES('/plugins/amcl/origin_theta','float',0.0,'The yaw of the 2-D pose of the lower-left pixel in the map, as (x, y, yaw), with yaw as counterclockwise rotation (yaw=0 means no rotation) around Z axis. Many parts of the system currently ignore yaw.; rad');
INSERT INTO "config" VALUES('/plugins/amcl/occupied_threshold','float',0.65,'Pixels with occupancy probability greater than this threshold are considered completely occupied. Occupancy probability is the luminance value divided by 255.');
INSERT INTO "config" VALUES('/plugins/amcl/free_threshold','float',0.2,'Pixels with occupancy probability less than this threshold are considered completely free.');
INSERT INTO "config" VALUES('/plugins/amcl/save_pose_rate','float',0.5,'Save Pose Rate');
INSERT INTO "config" VALUES('/plugins/amcl/laser_min_range','float',0.01,'Laser Minimum Range');
INSERT INTO "config" VALUES('/plugins/amcl/laser_max_range','float',5.6,'Laser Maximum Range');
INSERT INTO "config" VALUES('/plugins/amcl/max_beams','unsigned int',30,'Laser Maximum Beams');
INSERT INTO "config" VALUES('/plugins/amcl/min_particles','unsigned int',100,'Minimum Particles');
INSERT INTO "config" VALUES('/plugins/amcl/max_particles','unsigned int',2000,'Maximum Particles');
INSERT INTO "config" VALUES('/plugins/amcl/kld_err','float',0.01,'Pf error');
INSERT INTO "config" VALUES('/plugins/amcl/kld_z','float',0.99,'Pf Z Value');
INSERT INTO "config" VALUES('/plugins/amcl/alpha1','float',0.2,'Odometry model parameter, specifies the expected noise in odometry''s rotation estimate from the rotational component of the robot''s motion.');
INSERT INTO "config" VALUES('/plugins/amcl/alpha2','float',0.2,'Odometry model parameter, specifies the expected noise in odometry''s rotation estimate from translational component of the robot''s motion. ');
INSERT INTO "config" VALUES('/plugins/amcl/alpha3','float',0.2,'Odometry model parameter, specifies the expected noise in odometry''s translation estimate from the translational component of the robot''s motion.');
INSERT INTO "config" VALUES('/plugins/amcl/alpha4','float',0.2,'Odometry model parameter, pecifies the expected noise in odometry''s translation estimate from the rotational component of the robot''s motion.');
INSERT INTO "config" VALUES('/plugins/amcl/alpha5','float',0.2,'Odometry model parameter, Translation-related noise parameter (only used if model is "omni")');
INSERT INTO "config" VALUES('/plugins/amcl/z_hit','float',0.95,'Z Hit');
INSERT INTO "config" VALUES('/plugins/amcl/z_short','float',0.1,'Z Short');
INSERT INTO "config" VALUES('/plugins/amcl/z_max','float',0.05,'Z Max');
INSERT INTO "config" VALUES('/plugins/amcl/z_rand','float',0.05,'Z Rand');
INSERT INTO "config" VALUES('/plugins/amcl/sigma_hit','float',0.2,'Sigma Hit');
INSERT INTO "config" VALUES('/plugins/amcl/lambda_short','float',0.1,'Lambda Short');
INSERT INTO "config" VALUES('/plugins/amcl/laser_likelihood_max_dist','float',2.0,'Laser- Likelihood Maximum Distance');
INSERT INTO "config" VALUES('/plugins/amcl/laser_interface_id','string','Laser urg filtered','Laser interface ID');
INSERT INTO "config" VALUES('/plugins/amcl/pose_interface_id','string','Pose','Pose interface ID');
INSERT INTO "config" VALUES('/plugins/amcl/laser_model_type','string','likelihood_field','Laser Model type... check alternatives with ROS');
INSERT INTO "config" VALUES('/plugins/amcl/odom_model_type','string','omni','Odometry Model type - differential or omni');
INSERT INTO "config" VALUES('/plugins/amcl/d_thresh','float',0.2,'Update minimum D Thresh; m');
INSERT INTO "config" VALUES('/plugins/amcl/a_thresh','float',0.5,'Update minimum A Thresh - should be PI/6; rad');
INSERT INTO "config" VALUES('/plugins/amcl/t_thresh','float',3.0,'Time to keep updating after stopping; sec');
INSERT INTO "config" VALUES('/plugins/amcl/odom_frame_id','string','/robotino_odometry','Odometry Frame ID');
INSERT INTO "config" VALUES('/plugins/amcl/base_frame_id','string','/base_link','Base Frame ID');
INSERT INTO "config" VALUES('/plugins/amcl/global_frame_id','string','/map','Global Frame ID');
INSERT INTO "config" VALUES('/plugins/amcl/laser_frame_id','string','/base_laser','Laser Frame ID');
INSERT INTO "config" VALUES('/plugins/amcl/resample_interval','unsigned int','1','Resample Interval');
INSERT INTO "config" VALUES('/plugins/amcl/transform_tolerance','float',2.0,'Transform Tolerance; sec');
INSERT INTO "config" VALUES('/plugins/amcl/alpha_slow','float',0.0,'Alpha Slow Recovery');
INSERT INTO "config" VALUES('/plugins/amcl/alpha_fast','float',0.0,'Alpha Fast Recovery');
INSERT INTO "config" VALUES('/plugins/amcl/init_pose_x','float',0.0,'Initial Position x');
INSERT INTO "config" VALUES('/plugins/amcl/init_pose_y','float',0.0,'Initial Position y');
INSERT INTO "config" VALUES('/plugins/amcl/init_pose_a','float',0.0,'Initial Position YAW');
INSERT INTO "config" VALUES('/plugins/amcl/angle_increment','float',1.0,'angle_increment');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/pos_x','float',2.3,'X position to simulate');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/pos_y','float',2.3,'Y position to simulate');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/pos_theta','float',0.78,'Rotation; rad');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/add_gaussian_noise','bool',1,'Add gaussian noise to values?');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/noise_sigma','float',0.02,'Sigma for normal distribution of noise');
INSERT INTO "config" VALUES('/plugins/amcl/map-lasergen/send_zero_odom','bool',1,'Send odometry updates with zero movement in each cycle?');
COMMIT;