# Fixed-field topology graph for the lightweight planner.
#
# Replace the sample coordinates with measured corridor-center coordinates from
# your map. Send a target by node name:
#   ros2 topic pub -1 /topology_goal std_msgs/msg/String "{data: bed_b}"
#
# Or send /goal_pose near a node; the nearest node is selected.

default_start: start
default_goal: bed_b

nodes:
  start:
    x: 0.54
    y: 0.20
  corridor_a:
    x: 1.50
    y: 0.20
  corridor_b:
    x: 2.50
    y: 0.80
  bed_a:
    x: 3.20
    y: 1.60
  bed_b:
    x: 2.54
    y: 2.50
  return_point:
    x: 0.54
    y: 0.20

edges:
  - [start, corridor_a]
  - [corridor_a, corridor_b]
  - [corridor_b, bed_a]
  - [corridor_b, bed_b]
  - [bed_a, bed_b]
  - [start, return_point]
