update ros

2026-01-07 09:28:55 +07:00
parent 7cea6bb120
commit ec6d5746e3
58 changed files with 22752 additions and 3773 deletions
--- a/Controllers/Packages/amr_startup/config/maker_sources.yaml
+++ b/Controllers/Packages/amr_startup/config/maker_sources.yaml
@@ -0,0 +1,120 @@
+maker_sources: trolley charger dock_station  undock_station
+trolley:
+  plugins:
+    - {name: 4legs,  docking_planner: "DockPlanner", docking_nav: ""}
+    - {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
+
+  4legs:
+    maker_goal_frame: trolley_goal
+    footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
+    delay: 2.0
+    timeout: 60.0
+    vel_x: 0.1
+    vel_theta: 0.3
+    yaw_goal_tolerance: 0.017  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+  qrcode:
+    maker_goal_frame: qr_trolley
+    delay: 2.0
+    timeout: 60.0
+    vel_x: 0.05
+    vel_theta: 0.2
+    allow_rotate: true
+    yaw_goal_tolerance: 0.017  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+charger:
+  plugins:
+    - {name: charger, docking_planner: "DockPlanner", docking_nav: ""}
+
+  charger:
+    maker_goal_frame: charger_goal
+    footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
+    delay: 2
+    timeout: 60
+    vel_x: 0.1
+    yaw_goal_tolerance: 0.017  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+dock_station:
+  plugins:
+  - {name: station, docking_planner: "DockPlanner", docking_nav: ""}
+
+  station:
+    maker_goal_frame: dock_station_goal
+    footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
+    delay: 2
+    timeout: 60
+    vel_x: 0.15
+    vel_theta: 0.3
+    yaw_goal_tolerance: 0.01  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+
+dock_station_2:
+  plugins:
+  - {name: station, docking_planner: "DockPlanner", docking_nav: ""}
+
+  station:
+    maker_goal_frame: dock_station_goal_2
+    footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
+    delay: 2
+    timeout: 60
+    vel_x: 0.15
+    vel_theta: 0.3
+    yaw_goal_tolerance: 0.01  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+undock_station:
+  plugins:
+    - {name: station,  docking_planner: "DockPlanner", docking_nav: ""}
+    - {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
+
+  station:
+    maker_goal_frame: undock_station_goal
+    footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
+    delay: 2.0
+    timeout: 60.0
+    vel_x: 0.15
+    vel_theta: 0.3
+    yaw_goal_tolerance: 0.017  
+    xy_goal_tolerance: 0.01 
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36
+
+  qrcode:
+    maker_goal_frame: qr_station
+    delay: 2.0
+    timeout: 60.0
+    vel_x: 0.05
+    vel_theta: 0.2
+    allow_rotate: true
+    yaw_goal_tolerance: 0.01 
+    xy_goal_tolerance: 0.01
+    min_lookahead_dist: 0.4
+    max_lookahead_dist: 1.0
+    lookahead_time: 1.5
+    angle_threshold: 0.36