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