94 lines
3.1 KiB
YAML
94 lines
3.1 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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use_post_qr_pose: false
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enable_vlm_image_relay: false
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enable_dynamic_replanning: false
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enable_recovery: true
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vlm_image_input_topic: /image
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vlm_image_output_topic: /vlm_image
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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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recovery_cmd_vel_topic: /cmd_vel
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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: false
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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: 20.0
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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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dynamic_replan_interval_sec: 1.0
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dynamic_replan_stop_distance: 0.5
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dynamic_replan_max_consecutive_failures: 3
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recovery_backup_speed: -0.2
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recovery_backup_distance: 0.04
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recovery_backup_timeout_sec: 0.2
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max_recovery_attempts: 2
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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: [4.333107888975101, 1.028867429995691, 1.1383894869544392]
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post_qr_pose: [2.504811372926262, 2.2798075935366624, 1.520115031774562]
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entry_pose: [2.504811372926262, 2.2798075935366624, 1.520115031774562]
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# The route's Nth waypoint is used as the VLM capture point.
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# For the current point set, the 2nd waypoint is the VLM point.
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vlm_waypoint_number: 2
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# main_1.json: clockwise route, excluding home.
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clockwise_waypoints:
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- 0.7534956931109804
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- 3.766501234923627
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- 1.5592359900104606
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- 3.8567885105264077
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- 4.329424195458402
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- 0.03997856199797794
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- 2.5144339572664096
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- 2.4337692660037766
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- -1.6101462328054222
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clockwise_home_pose: [0.536986899408154, 0.1772662932069835, -1.652041913138445]
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# main_2.json: counterclockwise route, excluding home.
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counterclockwise_waypoints:
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- 4.2128251001861265
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- 3.7376334819031842
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- 1.5450283923222128
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- 1.1720794040064113
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- 4.319801449605877
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- 3.1112984779040144
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- 2.4951887885861144
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- 2.318297930897253
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- -1.539556591616333
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counterclockwise_home_pose: [0.536986899408154, 0.1772662932069835, -1.652041913138445]
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