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formation.yaml
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formation.yaml
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# -----------------------------------
planner:
type: 0 #0->lissajous 1->circle 2->clickedPose 3->spiral 4->StepResponse
pause: false
iterations: 1
reference: [1. , 1. , 0, 0 ,0 ,0 ] #X Y Z R P Y
growth: 0.33
r0: 3
omega: 0.04
ratio: 2
phaseshift: 0.0
amplifier_x: 3.0
amplifier_y: 3.0
step_sizes: [1.0, 1.0, 0.5] # x [m] y[m] phi[times pi] -> [1.0 1.0 0.5] means 1m in x 1m in y and 0.5pi in phi
delay: 6.0
#Names of formation memebers for parsing the formation parameters
formation:
# names: ["master","robot1","robot2","robot3","robot4"] #Names of the robots belonging to one formation
names: ["master","robot1","robot2","robot3"] #Names of the robots belonging to one formation
# Remaped, shared parameter for all the robots
controller_type: 2 # 1-> pseudo_invers 2->lyapov 3->angl_dist
lyapunov: [7.0,12.0,1.0] # parameter for lyapunov algorythm: kx,ky,kphi
# angle_distance: [7.0,2.0,0.3] # parameter for angle distance algorythm: kl,kpsi,d
angle_distance: [4.0,1.0,0.3] # parameter for angle distance algorythm: kl,kpsi,d
topic_current_odometry: "base_pose_ground_truth" #Source of state estamination
publish_tf: true #Should be published at tf?
world_frame: "/map" #Name of the map frame
thresh: [0.0, 0.0, 0.0] #Thresholds for stopping motion. If velocities are below thresh the robot stops (Prevents oszillation)
#Formation member specification
master:
controller:
controller_type: 2
reference: [1.0 ,1.0 , 0, 0 ,0 ,0 ] #X Y Z R P Y given in the world frame
topic_target_odometry: "/trajectory_odom" #Topic where the target position/velocities are given at
robot1:
controller:
master: "master"
reference: [1.0 , -1.0, 0, 0 ,0 ,0 ] #X Y Z R P Y
topic_target_odometry: "/master/base_pose_ground_truth"
robot2:
controller:
master: "master"
reference: [-1.0 ,1.0, 0, 0 ,0 ,0 ] #X Y Z R P Y
topic_target_odometry: "/master/base_pose_ground_truth" #topi the target odometry of the robot is published at
robot3:
controller:
master: "master"
reference: [-1.0,-1.0, 0, 0 ,0 ,0 ] #X Y Z R P Y
topic_target_odometry: "/master/base_pose_ground_truth" #topi the target odometry of the robot is published at
robot4:
controller:
master: "master"
reference: [-1.5, 1.5, 0, 0 ,0 ,0 ] #X Y Z R P Y
topic_target_odometry: "/master/base_pose_ground_truth"
robot5:
controller:
master: "master"
reference: [-1.5 , 0 , 0, 0 ,0 ,0 ] #X Y Z R P Y
publish_tf: true
topic_target_odometry: "/master/base_pose_ground_truth" #topi the target odometry of the robot is published at