Projects/RCLL-SS2017: navgraph.yaml

File navgraph.yaml, 2.9 KB (added by thofmann, 10 months ago)
Line 
1%YAML 1.2
2%TAG ! tag:fawkesrobotics.org,cfg/
3---
4doc-url: !url http://trac.fawkesrobotics.org/wiki/Plugins/navgraph
5---
6navgraph:
7
8  # Base TF Frame ID
9  base_frame: !frame base_link
10
11  # Global TF Frame ID
12  global_frame: !frame map
13
14  # Blackboard interface ID for navigator interface of locomotion component
15  navigator_interface_id: Navigator
16
17  # Graph file to use for path planning
18  graph_file: navgraph-basis.yaml
19 
20  # Interval in which the resend the goto command; sec
21  resend_interval: 1
22
23  # Interval in which to replan if constraints have been modified
24  # since the last path planning.
25  replan_interval: 2.0
26
27  # Cost factor to decide whether to use new or old plan after re-planning.
28  # The cost of the old (remaining partial) plan is multiplied with this
29  # factor and then compared to the new plan's cost. Only if the new plan
30  # is not more expensive than this result, it is used.
31  # For example, when setting this to 1.0, the new plan is only considered
32  # if it is at most as expensive as the current plan. When setting this to
33  # 2.0, the new plan may be up to twice as expensive as the current plan
34  # to switch.
35  replan_cost_factor: 1.5               
36
37  # Update the visualization at this interval. This will trigger a compuation
38  # of all constraints and if any change occurs the graph will be published
39  # again. This is done whether the robot is currently driving or standing still.
40  visualization_interval: 0.5     
41 
42  # Time to keep moving after the target tolerance has been reached; sec
43  target_time: 2.0 #0.6
44
45  # Monitor graph file and automatically reload on changes?
46  monitor_file: true
47
48  # Time to keep moving after the orientation tolerance has been reached; sec
49  # NOTE: it is recommended to set this as graph default property
50  target_ori_time: 2.5
51
52  # If set to true, aborts traveling on error, e.g. if no writer exists for
53  # the NavigatorInterface. If false, keeps trying and re-sending.
54  # Setting this to false is risky, because skills then cannot react to an
55  # error because none is reported. It is recommended to set this to false
56  # only if you really know what you are doing.
57  abort_on_error: true
58
59  # Monitor graph file and automatically reload on changes?
60  monitor_file: true
61
62  # Write graph information to log on (re-)loading?
63  log_graph: false
64
65  visualization:
66
67    # Set to true to enable visualization by publishing messages for rviz
68    enable: true
69
70    # The color for the cost factors (from constraints) of an edge is
71    # scaled from red over orange to yellow (from 0.0 to 1.0). The
72    # maximum scale value for the cost denotes when this should be
73    # saturated and thus yellow, i.e.  a setting of 2.0 means that a
74    # cost factor of 1.0 will be drawn as red, 1.5 as orange, and
75    # anything greater or equal to 2.0 as yellow.
76    cost_scale_max: 4.0
77
78  interactive:
79    out-file: navgraph-interactive-saved.yaml
80
81  ros-publishing:
82    enable: true