# Compatibility allow-list for BaseNavigation::dockTo(marker, ...).
#
# move_base2 docking resolves `goal_frame` to an absolute pose and runs DockPlanner +
# HybridLocalPlanner.  It does not consume the legacy per-marker PNKXDockingLocalPlanner
# parameters (plugins, maker_goal_frame, delay, timeout, velocity, tolerance, or lookahead).
# Keep only the marker names that the host may submit until `dockTo` is migrated to
# declarative dock_sequences.
maker_sources: trolley charger dock_station undock_station dock_station_2 undock_station_2

# Marker có entry ở đây dùng cặp planner riêng. Marker rỗng hoặc chỉ có trong `maker_sources` mà
# không nằm trong bảng này sẽ dùng cặp `docking` mặc định của move_base_common_params.yaml.
docking_marker_profiles:
  trolley:
    global_planner: DockPlanner
    local_planner: HybridLocalPlanner

  charger:
    global_planner: DockPlanner
    local_planner: HybridLocalPlanner

  dock_station:
    global_planner: DockPlanner
    local_planner: HybridLocalPlanner