Projects/RCLL-SS2019: navgraph-basis-v2.yaml

File navgraph-basis-v2.yaml, 10.2 KB (added by thofmann, 4 weeks 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: 1.5
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# Exploration points
53#
54  # High (far) row
55  #
56  - !unconnected
57    name: exp-11
58    pos: [5, 6]
59    properties:
60      - orientation: 0.2
61      - always-copy: true
62  - !unconnected
63    name: exp-12
64    pos: [-5.0, 6]
65    properties:
66      - orientation: 2.9
67      - always-copy: true
68
69  # Middle row
70  #
71  - !unconnected
72    name: exp-21
73    pos: [5, 4]
74    properties:
75      - orientation: 0.7
76      - always-copy: true
77  - !unconnected
78    name: exp-22
79    pos: [0, 4]
80    properties:
81      - orientation: 2.9
82      - always-copy: true
83  - !unconnected
84    name: exp-23
85    pos: [-5.0, 4]
86    properties:
87      - orientation: 0.85
88      - always-copy: true
89 
90  # Low (near) row
91  #
92  - !unconnected
93    name: exp-31
94    pos: [4, 2]
95    properties:
96      - orientation: 3.14
97  - !unconnected
98    name: exp-32
99    pos: [-4.0, 2]
100    properties:
101      - orientation: 0
102
103# drive into field points
104# Cyan
105  - !unconnected
106    name: C-ins-out
107    pos: [4.5, 0.5]
108    properties:
109      - always-copy: true
110  - !unconnected
111    name: C-ins-in
112    pos: [4.5, 1.5]
113    properties:
114      - always-copy: true
115      - orientation: 1.5
116# Magenta
117  - !unconnected
118    name: M-ins-out
119    pos: [-4.5, 0.5]
120    properties:
121      - always-copy: true
122  - !unconnected
123    name: M-ins-in
124    pos: [-4.5, 1.5]
125    properties:
126      - always-copy: true
127      - orientation: 1.7
128
129# wait points
130  - !unconnected
131    name: WAIT1
132    pos : [0,1]
133    properties:
134      - orientation: 1.57
135      - always-copy: true
136      - target_tolerance: 1.5
137  - !unconnected
138    name: WAIT-C-BS-INPUT
139    pos : [0,1]
140    properties:
141      - always-copy: true
142      - orientation_tolerance: 3.14
143      - target_tolerance: 1.5
144  - !unconnected
145    name: WAIT-C-BS-OUTPUT
146    pos : [0,1]
147    properties:
148      - always-copy: true
149      - orientation_tolerance: 3.14
150      - target_tolerance: 1.5
151  - !unconnected
152    name: WAIT-C-CS1-INPUT
153    pos : [0,1]
154    properties:
155      - always-copy: true
156      - orientation_tolerance: 3.14
157      - target_tolerance: 1.5
158  - !unconnected
159    name: WAIT-C-CS1-OUTPUT
160    pos : [0,1]
161    properties:
162      - always-copy: true
163      - orientation_tolerance: 3.14
164      - target_tolerance: 1.5
165  - !unconnected
166    name: WAIT-C-CS2-INPUT
167    pos : [0,1]
168    properties:
169      - always-copy: true
170      - orientation_tolerance: 3.14
171      - target_tolerance: 1.5
172  - !unconnected
173    name: WAIT-C-CS2-OUTPUT
174    pos : [0,1]
175    properties:
176      - always-copy: true
177      - orientation_tolerance: 3.14
178      - target_tolerance: 1.5
179  - !unconnected
180    name: WAIT-C-RS1-INPUT
181    pos : [0,1]
182    properties:
183      - always-copy: true
184      - orientation_tolerance: 3.14
185      - target_tolerance: 1.5
186  - !unconnected
187    name: WAIT-C-RS1-OUTPUT
188    pos : [0,1]
189    properties:
190      - always-copy: true
191      - orientation_tolerance: 3.14
192      - target_tolerance: 1.5
193  - !unconnected
194    name: WAIT-C-RS2-INPUT
195    pos : [0,1]
196    properties:
197      - always-copy: true
198      - orientation_tolerance: 3.14
199      - target_tolerance: 1.5
200  - !unconnected
201    name: WAIT-C-RS2-OUTPUT
202    pos : [0,1]
203    properties:
204      - always-copy: true
205      - orientation_tolerance: 3.14
206      - target_tolerance: 1.5
207  - !unconnected
208    name: WAIT-C-DS-INPUT
209    pos : [0,1]
210    properties:
211      - always-copy: true
212      - orientation_tolerance: 3.14
213      - target_tolerance: 1.5
214  - !unconnected
215    name: WAIT-C-DS-OUTPUT
216    pos : [0,1]
217    properties:
218      - always-copy: true
219      - orientation_tolerance: 3.14
220      - target_tolerance: 1.5
221  - !unconnected
222    name: WAIT-C-SS-INPUT
223    pos : [0,1]
224    properties:
225      - always-copy: true
226      - orientation_tolerance: 3.14
227      - target_tolerance: 1.5
228  - !unconnected
229    name: WAIT-C-SS-OUTPUT
230    pos : [0,1]
231    properties:
232      - always-copy: true
233      - orientation_tolerance: 3.14
234      - target_tolerance: 1.5
235  - !unconnected
236    name: WAIT-M-BS-INPUT
237    pos : [0,1]
238    properties:
239      - always-copy: true
240      - orientation_tolerance: 3.14
241      - target_tolerance: 1.5
242  - !unconnected
243    name: WAIT-M-BS-OUTPUT
244    pos : [0,1]
245    properties:
246      - always-copy: true
247      - orientation_tolerance: 3.14
248      - target_tolerance: 1.5
249  - !unconnected
250    name: WAIT-M-CS1-INPUT
251    pos : [0,1]
252    properties:
253      - always-copy: true
254      - orientation_tolerance: 3.14
255      - target_tolerance: 1.5
256  - !unconnected
257    name: WAIT-M-CS1-OUTPUT
258    pos : [0,1]
259    properties:
260      - always-copy: true
261      - orientation_tolerance: 3.14
262      - target_tolerance: 1.5
263  - !unconnected
264    name: WAIT-M-CS2-INPUT
265    pos : [0,1]
266    properties:
267      - always-copy: true
268      - orientation_tolerance: 3.14
269      - target_tolerance: 1.5
270  - !unconnected
271    name: WAIT-M-CS2-OUTPUT
272    pos : [0,1]
273    properties:
274      - always-copy: true
275      - orientation_tolerance: 3.14
276      - target_tolerance: 1.5
277  - !unconnected
278    name: WAIT-M-RS1-INPUT
279    pos : [0,1]
280    properties:
281      - always-copy: true
282      - orientation_tolerance: 3.14
283      - target_tolerance: 1.5
284  - !unconnected
285    name: WAIT-M-RS1-OUTPUT
286    pos : [0,1]
287    properties:
288      - always-copy: true
289      - orientation_tolerance: 3.14
290      - target_tolerance: 1.5
291  - !unconnected
292    name: WAIT-M-RS2-INPUT
293    pos : [0,1]
294    properties:
295      - always-copy: true
296      - orientation_tolerance: 3.14
297      - target_tolerance: 1.5
298  - !unconnected
299    name: WAIT-M-RS2-OUTPUT
300    pos : [0,1]
301    properties:
302      - always-copy: true
303      - orientation_tolerance: 3.14
304      - target_tolerance: 1.5
305  - !unconnected
306    name: WAIT-M-DS-INPUT
307    pos : [0,1]
308    properties:
309      - always-copy: true
310      - orientation_tolerance: 3.14
311      - target_tolerance: 1.5
312  - !unconnected
313    name: WAIT-M-CDS-OUTPUT
314    pos : [0,1]
315    properties:
316      - always-copy: true
317      - orientation_tolerance: 3.14
318      - target_tolerance: 1.5
319  - !unconnected
320    name: WAIT-M-SS-INPUT
321    pos : [0,1]
322    properties:
323      - always-copy: true
324      - orientation_tolerance: 3.14
325      - target_tolerance: 1.5
326  - !unconnected
327    name: WAIT-M-SS-OUTPUT
328    pos : [0,1]
329    properties:
330      - always-copy: true
331      - orientation_tolerance: 3.14
332      - target_tolerance: 1.5
333
334# Machine points for property generation
335# Positions will be written by the generator
336# Cyan
337  - !unconnected
338    name: C-CS1
339    pos: [0, 0]
340    properties:
341      - only-copy-properties
342      - tag_input: 1
343      - tag_output: 2
344      - output_offset_x: -0.003
345  - !unconnected
346    name: C-CS2
347    pos: [0, 0]
348    properties:
349      - only-copy-properties
350      - tag_input: 17
351      - tag_output: 18
352      - input_offset_x: 0.0
353      - output_offset_x: 0.0
354  - !unconnected
355    name: C-RS1
356    pos: [0, 0]
357    properties:
358      - only-copy-properties
359      - tag_input: 33
360      - tag_output: 34
361      - input_offset_y: 0.02
362  - !unconnected
363    name: C-RS2
364    pos: [0, 0]
365    properties:
366      - only-copy-properties
367      - tag_input: 177
368      - tag_output: 178
369      - input_offset_x: -0.01
370      - input_offset_y: 0.02
371      - output_offset_x: 0.005
372  - !unconnected
373    name: C-BS
374    pos: [0, 0]
375    properties:
376      - only-copy-properties
377      - tag_input: 65
378      - tag_output: 66
379      - output_offset_x: -0.015 #the gripper should be 2mm higher in z
380  - !unconnected
381    name: C-DS
382    pos: [0, 0]
383    properties:
384      - only-copy-properties
385      - tag_input: 81
386      - tag_output: 82
387      - input_offset_x: 0.02
388#Magenta
389  - !unconnected
390    name: M-CS1
391    pos: [0, 0]
392    properties:
393      - only-copy-properties
394      - tag_input: 97
395      - tag_output: 98
396      - output_offset_y: -0.015
397  - !unconnected
398    name: M-CS2
399    pos: [0, 0]
400    properties:
401      - only-copy-properties
402      - tag_input: 113
403      - tag_output: 114
404      - output_offset_x: -0.005
405  - !unconnected
406    name: M-RS1
407    pos: [0, 0]
408    properties:
409      - only-copy-properties
410      - tag_input: 129
411      - tag_output: 130
412  - !unconnected
413    name: M-RS2
414    pos: [0, 0]
415    properties:
416      - only-copy-properties
417      - tag_input: 145
418      - tag_output: 146
419      - output_offset_x: -0.005
420      - input_offset_x: -0.02
421  - !unconnected
422    name: M-BS
423    pos: [0, 0]
424    properties:
425      - only-copy-properties
426      - tag_input: 161
427      - tag_output: 162
428      - input_offset_x: -0.01
429      - input_offset_y: 0.025
430      - output_offset_x: -0.015
431      - output_offset_y: -0.035
432  - !unconnected
433    name: M-DS
434    pos: [0, 0]
435    properties:
436      - only-copy-properties
437      - tag_input: 49
438      - tag_output: 50
439      - input_offset_x: -0.02
440
441# Possible directional tags:
442# !bidir (bidirectional, default), !dir (directed)
443connections:
444# common
445