navgraph.yaml

%YAML 1.2
%TAG ! tag:fawkesrobotics.org,cfg/
---
doc-url: !url http://trac.fawkesrobotics.org/wiki/Plugins/navgraph
---
navgraph:

  # Blackboard interface ID for navigator interface of locomotion component
  navigator_interface_id: Navigator

  # Graph file to use for path planning
  graph_file: navgraph-example.yaml

  # Interval in which the resend the goto command; sec
  resend_interval: 1.0

  # Interval in which to replan if constraints have been modified
  # since the last path planning.
  replan_interval: 2.0

  # Cost factor to decide whether to use new or old plan after re-planning.
  # The cost of the old (remaining partial) plan is multiplied with this
  # factor and then compared to the new plan's cost. Only if the new plan
  # is not more expensive than this result, it is used.
  # For example, when setting this to 1.0, the new plan is only considered
  # if it is at most as expensive as the current plan. When setting this to
  # 2.0, the new plan may be up to twice as expensive as the current plan
  # to switch.
  replan_cost_factor: 1.5

  # Update the visualization at this interval. This will trigger a compuation of
  # all constraints and if any change occurs the graph will be published
  # again. This is done whether the robot is currently driving or standing
  # still.
  visualization_interval: 0.5

  # Time to keep moving after the target tolerance has been reached; sec
  # NOTE: it is recommended to set this as graph default property
  target_time: 2.5

  # Time to keep moving after the orientation tolerance has been reached; sec
  # NOTE: it is recommended to set this as graph default property
  target_ori_time: 2.5

  # If set to true, aborts traveling on error, e.g. if no writer exists for
  # the NavigatorInterface. If false, keeps trying and re-sending.
  # Setting this to false is risky, because skills then cannot react to an
  # error because none is reported. It is recommended to set this to false
  # only if you really know what you are doing.
  abort_on_error: true

  # Allow that there are multiple graph segments without interconnect.
  # This can also be useful, for example, if there are explicitly unconnected
  # nodes in the graph, for example to store semantic information but which
  # need not be traveled to.
  # This flag is used during loading the graph_file initially, only.
  allow_multi_graph: false

  # Monitor graph file and automatically reload on changes?
  monitor_file: true

  # Write graph information to log on (re-)loading?
  log_graph: false

  # The following enables or disables path execution.
  # In either case a navgraph is maintained internally, paths may be
  # planned, and searches performed. However, if disabled, paths may
  # not be executed by the navgraph plugin. This can be useful, for
  # example, to keep the navgraph data structure around and use
  # ros-navgraph-breakout for external execution. Disabling
  # essentially means that no blackboard interfaces for path
  # instruction will be provided and the remaining API is kept
  # as-is.
  path_execution: false

  visualization:

    # Set to true to enable visualization by publishing messages for rviz
    enable: true

    # The color for the cost factors (from constraints) of an edge is
    # scaled from red over orange to yellow (from 0.0 to 1.0). The
    # maximum scale value for the cost denotes when this should be
    # saturated and thus yellow, i.e.  a setting of 2.0 means that a
    # cost factor of 1.0 will be drawn as red, 1.5 as orange, and
    # anything greater or equal to 2.0 as yellow.
    cost_scale_max: 4.0

  # navgraph-static-constraints plugin configuration
  static-constraints:
    # A list of names of nodes that should be statically blocked
    nodes: ["P24"]
    # Static edge blocks. Format is "OriginNode--TargetNode". Node names
    # may not contain "--".
    edges: ["P32--P33"]
    # Static costs for specific edges. Format is
    # OriginNode--TargetNode:cost (node names may not contain "--" or
    # ":"). Use an empty list to not post any edge cost constraints.
    edge-costs: ["P11--P21:1.5", "P12--P22:2.0", "P21--P22:1.75"]

    # Static polygons for which all nodes within the polygons as well as
    # all edges passing through or ending within the polygon are blocked.
    # Specification is a string with /-separated points which are again
    # :-separated X:Y coordinates, e.g. "p1.x:p1.y/p2.x/p2.y...".
    # The polygons are automatically closed, i.e. if the last node is
    # different from the first the first is automatically appended.
    polygons: ["1.2:0.0/1.5:0.0/1.5:1.5/1.2:1.5"]

  interactive:
    out-file: navgraph-interactive-saved.yaml

  # Publishing of usable data structures to ROS
  ros-publishing:
    enable: true