{
    "mqtt": {
        "external_net_address": "tcp://36.153.162.171",
        "external_net_port": 19683,
        "username": "zxwl",
        "password": "zxwl1234@",
        "info_topic": "/zxwl/sweeper/{vid}/info",
        "fault_topic": "/zxwl/sweeper/{vid}/fault",
        "gps_topic": "/zxwl/sweeper/{vid}/gps",
        "pub_gps_topic": "/zxwl/sweeper/V060003/gps",
        "remote_topic": "/zxwl/sweeper/V060003/ctrl",
        "upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
        "download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",
        "mqtt_topic_push_status": "/zxwl/sweeper/V060003/task/status",
        "mqtt_topic_sub_task": "/zxwl/sweeper/V060003/task"
    },
    "detect_line_tolerance": 3.06,
    "detect_head_tolerance": 2,
    "lidar_detect_locate": {
        "front": 5,
        "f_front": 18,
        "rear": -8,
        "r_rear": -16,
        "left": -6,
        "l_left": -13,
        "right": 6,
        "r_right": 13
    }
}