104 lines
3.2 KiB
YAML
104 lines
3.2 KiB
YAML
racing_control:
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ros__parameters:
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# Startup
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auto_start: false
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frame_id: odom
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# Shared coordination topics
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sign_topic: /sign4return
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qr_result_topic: /qr_results
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vlm_result_topic: /vlm_result
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odom_topic: /odom_combined
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trajectory_guard_input_topic: /trajectory_guard/input_path
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# Nav2 actions and plugin IDs
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navigate_action: /navigate_to_pose
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compute_path_action: /compute_path_through_poses
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follow_path_action: /follow_path
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planner_id: GridBased
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controller_id: FollowPath
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goal_checker_id: ""
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use_trajectory_guard: true
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# Timeouts and settling waits, in seconds
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navigation_timeout_sec: 120.0
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path_planning_timeout_sec: 30.0
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circle_timeout_sec: 120.0
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qr_result_timeout_sec: 8.0
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profile_switch_wait_sec: 1.0
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post_qr_wait_sec: 1.0
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vlm_capture_wait_sec: 0.5
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circle_goal_tolerance: 0.30
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# VLM capture:
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# stop - stop at the VLM waypoint, trigger capture, then continue immediately.
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# pass_through - keep following the full route and trigger capture while passing nearby.
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vlm_capture_mode: stop
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pass_through_vlm_trigger_radius: 0.35
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# /sign4return command values used by existing packages
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sign_qr_enable: 0
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sign_qr_disable: 5
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sign_vlm_trigger: 9
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sign_profile_normal: 10
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sign_profile_task2: 11
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# Pose parameters are flat x/y/yaw-radians triples in frame_id.
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qr_pose: [4.5303713524852558, 1.226131216530598, 1.2983334871583534]
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entry_pose: [2.4951887885861144, 2.2268832181534743, 1.5626000867375398]
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# The route's Nth waypoint is used as the VLM capture point.
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# With the saved JSON files, the 4th point is goal_011 for main_1
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# and goal_004 for main_2.
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vlm_waypoint_number: 4
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# main_1.json: clockwise route, excluding home.
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clockwise_waypoints:
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- 1.542550031688728
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- 3.1698990676859604
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- 3.1415926535897918
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- 0.71981664792046363
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- 3.7665012349236271
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- 1.5495230091246759
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- 1.3164186536457545
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- 4.3294241954584018
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- -0.016392199787162172
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- 3.659525047016253
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- 4.324612741775951
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- 4.6883147711881255e-16
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- 4.2320702688664218
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- 3.7761238192637752
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- -1.5784882007253702
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- 3.510374505206836
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- 3.1650879370282627
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- -3.0916338672023889
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- 2.5288679952890067
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- 2.4578258883665218
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- -1.6718998381125814
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clockwise_home_pose: [0.51774173072785878, 0.17726629320698351, -2.2032146659725105]
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# main_2.json: counterclockwise route, excluding home.
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counterclockwise_waypoints:
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- 3.3612239633974195
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- 3.1747105213684104
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- 0.010869470292991894
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- 4.2272591382087246
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- 3.7280108975630366
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- 1.5707963267948966
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- 3.4237709231207547
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- 4.3486693641386971
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- 3.123412893984987
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- 1.2731168626027138
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- 4.334235487628475
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- -3.1165979438417697
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- 0.74868440094090649
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- 3.7376334819031838
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- -1.5593026199905524
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- 1.3933994898793114
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- 3.1795219750508603
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- -0.01136349401017399
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- 2.4663210355656715
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- 2.4145240973234814
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- -1.5556465256578393
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counterclockwise_home_pose: [0.51774173072785878, 0.15802112452668779, -2.1396781415005068]
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