update

config/mprim/maker_sources.yaml

@@ -0,0 +1,152 @@
+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