maker_sources: trolley charger dock_station  undock_station dock_station_2 undock_station_2
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: 1.5 # Cấm sửa không là không chạy được   
    timeout: 60.0
    vel_x: 0.25
    vel_theta: 0.3
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.015 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16

  qrcode:
    maker_goal_frame: qr_trolley
    delay: 1.5 # Cấm sửa không là không chạy được
    timeout: 60.0
    vel_x: 0.05
    vel_theta: 0.5
    allow_rotate: true
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.02 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16

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: 1.5 # Cấm sửa không là không chạy được
    timeout: 60
    vel_x: 0.1
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.015 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16

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: 1.5 # Cấm sửa không là không chạy được
    timeout: 60
    vel_x: 0.15
    vel_theta: 0.3
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.015 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.4

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: 1.5 # Cấm sửa không là không chạy được
    timeout: 60
    vel_x: 0.15
    vel_theta: 0.3
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.015 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.4

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: 1.5 # Cấm sửa không là không chạy được
    timeout: 60.0
    vel_x: 0.25
    vel_theta: 0.3
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.015 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16
    
  qrcode:
    maker_goal_frame: qr_trolley
    delay: 1.5 # Cấm sửa không là không chạy được
    timeout: 60.0
    vel_x: 0.05
    vel_theta: 0.5
    allow_rotate: true
    yaw_goal_tolerance: 0.015 
    xy_goal_tolerance: 0.03
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16

undock_station_2:
  plugins:
    - {name: station,  docking_planner: "DockPlanner", docking_nav: ""}
    - {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }

  station:
    maker_goal_frame: undock_station_goal_2
    footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
    delay: 1.5 # Cấm sửa không là không chạy được
    timeout: 60.0
    vel_x: 0.25
    vel_theta: 0.5
    yaw_goal_tolerance: 0.015  
    xy_goal_tolerance: 0.03 
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16

  qrcode:
    maker_goal_frame: qr_trolley
    delay: 1.5 # Cấm sửa không là không chạy được
    timeout: 60.0
    vel_x: 0.05
    vel_theta: 0.5
    allow_rotate: true
    yaw_goal_tolerance: 0.02 
    xy_goal_tolerance: 0.02
    min_lookahead_dist: 0.4
    max_lookahead_dist: 1.0
    lookahead_time: 1.5
    angle_threshold: 0.16