27 lines
916 B
YAML
27 lines
916 B
YAML
# Example waypoint list for scripts/waypoint_runner.py
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#
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# All waypoints are in the odometry frame (matches what /goal_pose expects).
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# z is optional; if 0 the main node substitutes the robot's current z.
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frame_id: odom
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# Arrival / timing
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arrive_threshold: 0.75 # meters (matches constants.ARRIVE_GOAL_THRESHOLD)
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settle_time: 1.5 # seconds the robot must stay within threshold
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per_goal_timeout: 60.0 # seconds before giving up on a single goal
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# Stuck detection (script-side; no main-node changes required)
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stuck_window: 10.0 # seconds of trailing window
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stuck_displacement: 0.10 # meters; below this -> skip current goal
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# Republish the same goal periodically to defend against missed messages.
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republish_interval: 5.0
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# Append the script-start odom pose as a final goal after the list.
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return_home: true
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waypoints:
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- [3.0, 0.0, 0.0]
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- [3.0, 2.0, 0.0]
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- [0.0, 2.0, 0.0]
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