{
  "cases": [
    {
      "case": "missing-laser-tf",
      "domain_id": 75,
      "scans_supplied": 20,
      "rays_per_scan": 361,
      "laser_transform_available_per_scan": [
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0
      ],
      "received_maps": 0,
      "received_map_to_odom": 0,
      "received_accepted_poses": 0
    },
    {
      "case": "complete-tf",
      "domain_id": 76,
      "scans_supplied": 20,
      "rays_per_scan": 361,
      "laser_transform_available_per_scan": [
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1,
        1
      ],
      "received_maps": 27,
      "received_map_to_odom": 105,
      "received_accepted_poses": 17,
      "final_accepted_pose": {
        "stamp_ns": 109500000000,
        "frame": "map",
        "x_m": 1.139995736969326,
        "y_m": 0.002442995040672448,
        "z_m": 0.0,
        "qx": 0.0,
        "qy": 0.0,
        "qz": 0.0017449991144054303,
        "qw": 0.9999984774878863
      },
      "map_stamp_ns": 109500000000,
      "map_checks": {
        "width": 171,
        "height": 136,
        "resolution_m": 0.05000000074505806,
        "cell_counts": {
          "occupied": 583,
          "free": 18026,
          "unknown": 4647
        },
        "geometry_probes": {
          "left_wall": {
            "x_m": -3.9800166611121033,
            "y_m": -0.3993336665873126,
            "radius_m": 0.2,
            "expected_value": 100,
            "matching_cells": 8
          },
          "right_wall": {
            "x_m": 3.9800166611121033,
            "y_m": 0.3993336665873126,
            "radius_m": 0.2,
            "expected_value": 100,
            "matching_cells": 8
          },
          "bottom_wall": {
            "x_m": 0.29950024994048446,
            "y_m": -2.9850124958340776,
            "radius_m": 0.2,
            "expected_value": 100,
            "matching_cells": 9
          },
          "top_wall": {
            "x_m": -0.29950024994048446,
            "y_m": 2.9850124958340776,
            "radius_m": 0.2,
            "expected_value": 100,
            "matching_cells": 9
          },
          "obstacle_front": {
            "x_m": 1.3427561229467966,
            "y_m": 1.642256372887281,
            "radius_m": 0.2,
            "expected_value": 100,
            "matching_cells": 9
          },
          "room_interior": {
            "x_m": 0.09983341664682815,
            "y_m": -0.9950041652780258,
            "radius_m": 0.2,
            "expected_value": 0,
            "matching_cells": 50
          }
        }
      },
      "last_map_to_odom": {
        "stamp_ns": 109700000000,
        "frame": "map",
        "child_frame": "odom",
        "x_m": 2.6796192794153505e-06,
        "y_m": -0.001535596882708311,
        "z_m": 0.0,
        "qx": -0.0,
        "qy": -0.0,
        "qz": 0.001744999114405432,
        "qw": 0.9999984774878863
      }
    }
  ]
}
