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• node_id: Identification string of the middleware instance in the DDS network
• period_nanoseconds: Length of each period in which the HLC is triggered, in nanoseconds
• simulated_time: True if the current setup uses simulated time, else false
• wait_for_start: Whether the middleware should wait for the LCC's start signal, should be true (false only for debugging purposes)
  
• vehicle_ids: IDs of the vehicles the HLC(s) that the middleware 'controls' are responsible for (usually just one ID)
  
• dds_domain: Domain ID of the domain in which the LCC, vehicle etc. participate
  
• domain_number: Local domain ID of the middleware and the HLC
  
• dds_initial_peer: Should be explained in Lab Control Center - (Usage) (TODO)
  

Other parameters

• offset_nanoseconds: Set the offset of the communication w.r.t. ~1970 (TODO, real time) or 0 (simulated time); should usually not be changed
  
• use_param_server: Irrelevant parameter, false is default (true currently not required, would break the middleware)
• log_topic: Topic name of the logging topic (logs that are collected by the LCC)
• hlc_state_topic: Topic name of the vehicle state list topic for the vehicle information sent to the HLC
• vehicle_state_topic: Topic name of the vehicle states sent by the vehicles
• hlc_trajectory_topic: Topic name of the trajectory commands sent by the HLC
• vehicle_trajectory_topic: Topic name of the trajectory commands sent to the vehicles
• hlc_speed_curvature_topic: Topic name of the speed curvature commands sent by the HLC
• vehicle_speed_curvature_topic: Topic name of the speed curvature commands sent to the vehicles
• hlc_direct_topic: Topic name of the direct control commands sent by the HLC
• vehicle_direct_topic: Topic name of the direct control commands sent to the vehicles

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