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config.yaml
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config.yaml
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# FLEET CONFIG =================================================================
# RMF Fleet parameters
rmf_fleet:
name: "OTTO-1500"
limits:
linear: [2.0, 1.2] # velocity, acceleration
angular: [0.7, 0.7] # velocity, acceleration
profile: # Robot profile is modelled as a circle
footprint: 0.5 # radius in m
vicinity: 0.6 # radius in m
reversible: False # whether robots in this fleet can reverse
battery_system:
voltage: 24.0 # V
capacity: 40.0 # Ahr
charging_current: 26.4 # A
mechanical_system:
mass: 80.0 # kg
moment_of_inertia: 20.0 #kgm^2
friction_coefficient: 0.20
ambient_system:
power: 20.0 # W
tool_system:
power: 50.0 # W
recharge_threshold: 0.30 # Battery level below which robots in this fleet will not operate
recharge_soc: 0.85 # Battery level to which robots in this fleet should be charged up to during recharging tasks
publish_fleet_state: True
account_for_battery_drain: True
task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
loop: True
delivery: True
clean: False
finishing_request: "nothing" # [park, charge, nothing]
# ROBOT CONFIG =================================================================
robots:
# Here the user is expected to append the configuration for each robot in the
# fleet.
# Configuration for first robot in this fleet
robot_1:
robot_config:
filter_waypoints: True
max_delay: 100000.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
rmf_config:
start:
map_name: "L1" # the level name as defined in traffic_editor that the robot is starting on
charger:
waypoint: "charger_otto1500_1"
robot_2:
robot_config:
filter_waypoints: True
max_delay: 100000.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
rmf_config:
start:
map_name: "L1" # the level name as defined in traffic_editor that the robot is starting on
charger:
waypoint: "charger_otto1500_2"
robot_3:
robot_config:
filter_waypoints: True
max_delay: 100000.0 # allowed seconds of delay of the current itinerary before it gets interrupted and replanned
rmf_config:
start:
map_name: "L1" # the level name as defined in traffic_editor that the robot is starting on
charger:
waypoint: "charger_otto1500_3"
# TRANSFORM CONFIG =============================================================
# For computing transforms between Robot and RMF coordinate systems
rmf_to_robot_transformation:
rotation: 0.0
scale: 1.2504164209780637
trans_x: -142.8728426330461
trans_y: 123.66709935598917
robot_to_rmf_transformation:
rotation: 0.0
scale: 0.7997328493216024
trans_x: 114.27146490650718
trans_y: -98.8964868512317