24 lines
1.0 KiB
YAML
24 lines
1.0 KiB
YAML
# Compatibility allow-list for BaseNavigation::dockTo(marker, ...).
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#
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# move_base2 docking resolves `goal_frame` to an absolute pose and runs DockPlanner +
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# HybridLocalPlanner. It does not consume the legacy per-marker PNKXDockingLocalPlanner
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# parameters (plugins, maker_goal_frame, delay, timeout, velocity, tolerance, or lookahead).
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# Keep only the marker names that the host may submit until `dockTo` is migrated to
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# declarative dock_sequences.
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maker_sources: trolley charger dock_station undock_station dock_station_2 undock_station_2
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# Marker có entry ở đây dùng cặp planner riêng. Marker rỗng hoặc chỉ có trong `maker_sources` mà
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# không nằm trong bảng này sẽ dùng cặp `docking` mặc định của move_base_common_params.yaml.
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docking_marker_profiles:
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trolley:
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global_planner: DockPlanner
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local_planner: HybridLocalPlanner
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charger:
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global_planner: DockPlanner
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local_planner: HybridLocalPlanner
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dock_station:
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global_planner: DockPlanner
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local_planner: HybridLocalPlanner
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