152 lines
4.3 KiB
YAML
152 lines
4.3 KiB
YAML
maker_sources: trolley charger dock_station undock_station dock_station_2 undock_station_2
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trolley:
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plugins:
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- {name: 4legs, docking_planner: "DockPlanner", docking_nav: ""}
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# - {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
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4legs:
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maker_goal_frame: trolley_goal
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footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.25
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vel_theta: 0.3
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.015
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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qrcode:
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maker_goal_frame: qr_trolley
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.05
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vel_theta: 0.5
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allow_rotate: true
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.02
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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charger:
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plugins:
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- {name: charger, docking_planner: "DockPlanner", docking_nav: ""}
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charger:
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maker_goal_frame: charger_goal
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footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60
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vel_x: 0.1
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.015
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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dock_station:
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plugins:
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- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
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station:
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maker_goal_frame: dock_station_goal
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footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60
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vel_x: 0.15
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vel_theta: 0.3
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.015
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.4
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dock_station_2:
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plugins:
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- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
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station:
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maker_goal_frame: dock_station_goal_2
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footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60
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vel_x: 0.15
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vel_theta: 0.3
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.015
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.4
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undock_station:
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plugins:
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- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
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- {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
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station:
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maker_goal_frame: undock_station_goal
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footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.25
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vel_theta: 0.3
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.015
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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qrcode:
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maker_goal_frame: qr_trolley
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.05
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vel_theta: 0.5
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allow_rotate: true
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.03
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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undock_station_2:
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plugins:
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- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
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- {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
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station:
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maker_goal_frame: undock_station_goal_2
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footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.25
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vel_theta: 0.5
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yaw_goal_tolerance: 0.015
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xy_goal_tolerance: 0.03
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16
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qrcode:
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maker_goal_frame: qr_trolley
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delay: 1.5 # Cấm sửa không là không chạy được
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timeout: 60.0
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vel_x: 0.05
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vel_theta: 0.5
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allow_rotate: true
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yaw_goal_tolerance: 0.02
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xy_goal_tolerance: 0.02
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min_lookahead_dist: 0.4
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max_lookahead_dist: 1.0
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lookahead_time: 1.5
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angle_threshold: 0.16 |