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14 changes: 14 additions & 0 deletions
14
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/config/network_config.yaml
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# 1. This list is used by NimbroNetwork for mutual communication of the UAVs | ||
# The names of the robots have to match hostnames described in /etc/hosts. | ||
# | ||
# 2. This list is used by MpcTracker for mutual collision avoidance of the UAVs. | ||
# The names should match the true "UAV_NAMES" (the topic prefixes). | ||
# | ||
# network_config:=~/config/network_config.yaml | ||
# | ||
# to the core.launch and nimbro.launch. | ||
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network: | ||
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robot_names: [ | ||
] |
46 changes: 46 additions & 0 deletions
46
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/config/world_config.yaml
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# | ||
## DEFINITION OF THE ARENA | ||
# | ||
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world_origin_units: "LATLON" # {"UTM, "LATLON"} | ||
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world_origin_x: 47.397743 | ||
world_origin_y: 8.545594 | ||
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safety_area: | ||
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use_safety_area: true | ||
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frame_name: "world_origin" | ||
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# convex polygon CCW | ||
safety_area: [ | ||
-50, -50, | ||
50, -50, | ||
50, 50, | ||
-50, 50 | ||
] | ||
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max_z: 15.0 | ||
min_z: 0.5 | ||
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polygon_obstacles: | ||
# loaded as a vector of matrices | ||
# each matrix has polygon vertices in columns | ||
# [[M1], [M2]] | ||
enabled: false | ||
data: [8.6, 18.61, 20.35, 6.82, -3.14, 10.7, | ||
-22.5, -22.71, 1.02, 17.68, 11.1, -4.1] | ||
rows: 2 # each matrix has two rows | ||
cols: [6] # nums of cols of each matrix | ||
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point_obstacles: | ||
# loaded as a vector of matrices | ||
# x, y, radius | ||
enabled: false | ||
# [x1, y1, radisu1, height1, | ||
# x2, y2, radius2, height2] | ||
data: [-5.0, -5.0, 2, 2, | ||
-10.0, -10.0, 4, 2] | ||
rows: 1 # each matrix has a single row | ||
cols: [4, 4] # nums of cols of each matrix |
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