Projects/RCLL-SS2018: navgraph-basis.yaml

File navgraph-basis.yaml, 4.8 KB (added by thofmann, 2 years ago)
Line 
1%YAML 1.2
2%TAG ! tag:fawkesrobotics.org,navgraph/
3---
4graph-name: LLSF
5root: SW
6
7default-properties:
8    # Max. distance between actual and target positions to deem the target
9    # reached. This value is for intermediate nodes on a path; m
10    # The value can be overwritten per node in the graph file.
11    - travel_tolerance: 0.7
12
13    # Max. distance between actual and target positions to deem the target
14    # reached. This value is for the last node on a path; m
15    # The value can be overwritten per node in the graph file.
16    - target_tolerance: 0.7
17
18    # Max. distance between actual and target orientation to deem the target
19    # reached. This value is for the last node on a path; rad
20    - orientation_tolerance: 0.6
21
22    # When following a plan the robot will check all upcoming nodes if they
23    # are close to the robot within this tolerance. If so, they take a shortcut
24    # and will go to the node in the plan after the shortcut node.
25    # This is potentially dangerous depending on the graph and navigator as it
26    # might violate the typical graph constraint of only having direct-line-of-tavel
27    # connections. The value can be overidden with a node property of the same name; m
28    - shortcut_tolerance: 1.2
29
30    # Distance from base_link to the MPS to align
31    - align_distance: 0.45
32
33    # Signal position on the table. Z is the table height above ground.
34    - signal_hint_x: 0.035
35    - signal_hint_y: -0.1
36    - signal_hint_z: 0.78
37
38    # Offset for aligning in front of the conveyor using the laser line
39    - input_offset_y: 0.025
40    - output_offset_y: -0.025
41
42
43nodes:
44
45# Default point, used only for mps_detect_signal when no or an invalid place= is given
46  - !unconnected
47    name: place-default
48    pos: [1, 1]
49    properties:
50      - only-copy-properties
51
52# drive into field points
53# Cyan
54  - !unconnected
55    name: C-ins-out
56    pos: [3.3, -0.55]
57    properties:
58      - always-copy: true
59  - !unconnected
60    name: C-ins-in
61    pos: [3.3, 0.75]
62    properties:
63      - always-copy: true
64# Magenta
65  - !unconnected
66    name: M-ins-out
67    pos: [-3.3, -0.55]
68    properties:
69      - always-copy: true
70  - !unconnected
71    name: M-ins-in
72    pos: [-3.3, 0.75]
73    properties:
74      - always-copy: true
75
76# wait points
77  - !unconnected
78    name: WAIT1
79    pos : [0,1]
80    properties:
81      - orientation: 1.57
82      - always-copy: true
83      - target_tolerance: 1.5
84
85# Machine points for property generation
86# Positions will be written by the generator
87# Cyan
88  - !unconnected
89    name: C-CS1
90    pos: [0, 0]
91    properties:
92      - only-copy-properties
93      - tag_input: 1
94      - tag_output: 2
95      - output_offset_x: -0.003
96  - !unconnected
97    name: C-CS2
98    pos: [0, 0]
99    properties:
100      - only-copy-properties
101      - tag_input: 17
102      - tag_output: 18
103      - input_offset_x: 0.0
104      - output_offset_x: 0.0
105  - !unconnected
106    name: C-RS1
107    pos: [0, 0]
108    properties:
109      - only-copy-properties
110      - tag_input: 33
111      - tag_output: 34
112      - input_offset_y: 0.02
113  - !unconnected
114    name: C-RS2
115    pos: [0, 0]
116    properties:
117      - only-copy-properties
118      - tag_input: 177
119      - tag_output: 178
120      - input_offset_x: -0.01
121      - input_offset_y: 0.02
122      - output_offset_x: 0.005
123  - !unconnected
124    name: C-BS
125    pos: [0, 0]
126    properties:
127      - only-copy-properties
128      - tag_input: 65
129      - tag_output: 66
130      - output_offset_x: -0.015 #the gripper should be 2mm higher in z
131  - !unconnected
132    name: C-DS
133    pos: [0, 0]
134    properties:
135      - only-copy-properties
136      - tag_input: 81
137      - tag_output: 82
138      - input_offset_x: 0.02
139#Magenta
140  - !unconnected
141    name: M-CS1
142    pos: [0, 0]
143    properties:
144      - only-copy-properties
145      - tag_input: 97
146      - tag_output: 98
147      - output_offset_y: -0.015
148  - !unconnected
149    name: M-CS2
150    pos: [0, 0]
151    properties:
152      - only-copy-properties
153      - tag_input: 113
154      - tag_output: 114
155      - output_offset_x: -0.005
156  - !unconnected
157    name: M-RS1
158    pos: [0, 0]
159    properties:
160      - only-copy-properties
161      - tag_input: 129
162      - tag_output: 130
163  - !unconnected
164    name: M-RS2
165    pos: [0, 0]
166    properties:
167      - only-copy-properties
168      - tag_input: 145
169      - tag_output: 146
170      - output_offset_x: -0.005
171      - input_offset_x: -0.02
172  - !unconnected
173    name: M-BS
174    pos: [0, 0]
175    properties:
176      - only-copy-properties
177      - tag_input: 161
178      - tag_output: 162
179      - input_offset_x: -0.01
180      - input_offset_y: 0.025
181      - output_offset_x: -0.015
182      - output_offset_y: -0.035
183  - !unconnected
184    name: M-DS
185    pos: [0, 0]
186    properties:
187      - only-copy-properties
188      - tag_input: 49
189      - tag_output: 50
190      - input_offset_x: -0.02
191
192# Possible directional tags:
193# !bidir (bidirectional, default), !dir (directed)
194connections:
195# common
196