maes_config_ros_system_test.yaml

# NOTE: This config file is part of the testing procedure for MAES with ROS
# If the content of maes_config.yaml is substituted with the contents of this file
# The performance should yield approximately the same results as described in the readme.

random_seeds: [0] # Currently, only supports a single seed for a single run
number_of_robots: 1
global_settings:
  logic_ticks_delta_millis: 100 
  physics_ticks_per_logic_update: 10
  draw_communication: true
  should_write_csv_results: true # Enable to create statistics file from run
  statistics_result_path: "" # defaults to same dir as executable (Also if left empty)
  ticks_per_stats_snapshot: 10
  populate_adjacency_and_comm_groups_every_tick: false
  ticks_before_exploration_heatmap_cold: 2400 # 10 * 60 * 4
  ticks_before_coverage_heatmap_cold: 2400 # 10 * 60 * 4
robot_constraints:
  broadcast_range: 20
  broadcast_blocked_by_walls: true
  sense_nearby_agents_range: 6.0
  sense_nearby_agents_blocked_by_walls: true
  automatically_update_slam: true
  slam_update_interval_in_ticks: 10 # Ros2 uses its own slam map building
  slam_sync_interval_in_ticks: 10 # Map not shared in ros2 yet
  slam_position_inaccuracy: 0.2 # /tf messages from maes do not yet use inaccuracy
  distribute_slam: false # Not distributed in ros2, only in maes locally
  environment_tag_read_range: 10.0
  slam_raytrace_range: 10.0
  relative_move_speed: 1.0
  agent_relative_size: 0.6 # Value in ]0.0-1.0] relative to a tile in the maes generated maps
end_criteria:
  coverage_percent: 99.5
  # exploration_percent: 99.5
  # tick: 100
robot_spawn_config:
  biggest_room: true
  # spawn_together:
    # suggested_starting_point_x: 0
    # suggested_starting_point_y: 0
  # spawn_at_hallway_ends: true
map:
  wall_height: 2.0 # Must be bigger greater than 2. Otherwise, just cosmetic
  width_in_tiles: 30
  height_in_tiles: 30
  border_size: 1 # Border around map. Only cosmetic. Must be at least 1
# NOTE: Include either cave_config, building_config or custom map
  building_config:
    hall_width: 4
    max_hall_in_percent: 20 # How much of the map should consist of hallways?
    min_room_side_length: 6 # The shortest allowed wall length of a room
    door_width: 2 # Width of the doors interconnecting the rooms
    door_padding: 2 # Minimum distance from the edge of a wall to the start of a door. Requirement: min_room_side_length >= 2 * door_padding + door_width
    room_split_chance: 85 # Lower value gives bigger rooms
#  cave_config:
#    smoothing_runs: 4 # Works best with 4, or optionally 3 or 5
#    connection_passage_width: 4 # The width of the interconnections between rooms in the cave
#    random_fill_percent: 43 # Works best in the range 30-50%
#    wall_threshold_size: 10 # Smallest group of isolated wall tiles allowed to remain in the map
#    room_threshold_size: 10 # Smallest room allowed to remain in the map
#  custom_map_filename: 'map.pgm' # Remember to set width and height to the resolution width and height of the custom map