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navigation_facade_1.5.txt
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navigation_facade_1.5.txt
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waypoints:
- name: sta51
frame_id: map
pose:
position:
x: 15
y: 18
z: 0
orientation:
x: 0.00
y: -0.00
z: 0.49
w: 0.26
- name: sta52
frame_id: map
pose:
position:
x: 15
y: 18
z: 0
orientation:
x: 0.00
y: -0.00
z: 0.49
w: 0.26
- name: sta53
frame_id: map
pose:
position:
x: 15
y: 22
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.98
w: 0.20
- name: sta54
frame_id: map
pose:
position:
x: 7
y: 21
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.00
- name: sta55
frame_id: map
pose:
position:
x: 4
y: 19
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.00
- name: sta56
frame_id: map
pose:
position:
x: -4
y: 22
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.98
w: 0.19
- name: sta57
frame_id: map
pose:
position:
x: -6
y: 23
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.97
w: 0.23
- name: sta58
frame_id: map
pose:
position:
x: -8
y: 23
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.51
w: 0.28
- name: sta59
frame_id: map
pose:
position:
x: -12
y: 23
z: 0
orientation:
x: 0.00
y: -0.00
z: 0.49
w: 0.27
- name: sta60
frame_id: map
pose:
position:
x: -15
y: 18
z: 0
orientation:
x: 0.00
y: -0.00
z: 0.49
w: 0.26
- name: sta61
frame_id: map
pose:
position:
x: -22
y: 23
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.97
w: 0.23
- name: sta62
frame_id: map
pose:
position:
x: -25
y: 21
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.98
w: 0.20
- name: sta63
frame_id: map
pose:
position:
x: -22
y: 26
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.98
w: 0.21
- name: sta64
frame_id: map
pose:
position:
x: -21
y: 26
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.98
w: 0.22
- name: sta65
frame_id: map
pose:
position:
x: -19
y: 26
z: 0
orientation:
x: 0.00
y: -0.00
z: 0.49
w: 0.27
- name: sta66
frame_id: map
pose:
position:
x: -30
y: 26
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.04
- name: sta67
frame_id: map
pose:
position:
x: -33
y: 26
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.03
- name: sta68
frame_id: map
pose:
position:
x: -31
y: 21
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.01
- name: sta69
frame_id: map
pose:
position:
x: -43
y: 22
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.55
w: 0.31
- name: sta70
frame_id: map
pose:
position:
x: -42
y: 26
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.97
w: 0.24
- name: sta71
frame_id: map
pose:
position:
x: -51
y: 23
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.69
w: 0.42
- name: sta72
frame_id: map
pose:
position:
x: -50
y: 15
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.76
w: 0.53
- name: sta73
frame_id: map
pose:
position:
x: -51
y: 8
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.73
w: 0.69
- name: sta74
frame_id: map
pose:
position:
x: -51
y: 3
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.62
w: 0.77
- name: sta75
frame_id: map
pose:
position:
x: -51
y: -2
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.48
w: 0.85
- name: sta76
frame_id: map
pose:
position:
x: -51
y: -7
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.71
w: 0.71
- name: sta77
frame_id: map
pose:
position:
x: -50
y: -12
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.71
w: 0.71
- name: sta78
frame_id: map
pose:
position:
x: -48
y: -22
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.48
w: 0.85
- name: sta79
frame_id: map
pose:
position:
x: -45
y: -28
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.25
w: 0.93
- name: sta80
frame_id: map
pose:
position:
x: -44
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: -0.19
w: 0.95
- name: sta81
frame_id: map
pose:
position:
x: -33
y: -27
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.02
w: 1.00
- name: sta82
frame_id: map
pose:
position:
x: -32
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.02
w: 1.00
- name: sta83
frame_id: map
pose:
position:
x: -29
y: -27
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.02
w: 1.00
- name: sta84
frame_id: map
pose:
position:
x: -27
y: -27
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.03
w: 1.00
- name: sta85
frame_id: map
pose:
position:
x: -27
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.02
w: 1.00
- name: sta86
frame_id: map
pose:
position:
x: -23
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.00
w: 1.00
- name: sta87
frame_id: map
pose:
position:
x: -21
y: -28
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.00
w: 1.00
- name: sta88
frame_id: map
pose:
position:
x: -23
y: -26
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.00
w: 1.00
- name: sta89
frame_id: map
pose:
position:
x: -20
y: -31
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.02
w: 1.00
- name: sta90
frame_id: map
pose:
position:
x: -16
y: -27
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.16
w: 0.99
- name: sta91
frame_id: map
pose:
position:
x: -13
y: -27
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.05
w: 1.00
- name: sta92
frame_id: map
pose:
position:
x: -5
y: -31
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.17
w: 0.99
- name: sta93
frame_id: map
pose:
position:
x: -2
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.03
w: 1.00
- name: sta94
frame_id: map
pose:
position:
x: 2
y: -28
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.04
w: 1.00
- name: sta95
frame_id: map
pose:
position:
x: 3
y: -30
z: 0
orientation:
x: 0.00
y: 0.00
z: 0.00
w: 1.00
- name: sta96
frame_id: map
pose:
position:
x: -9
y: 10
z: 0
orientation:
x: 0.00
y: 0.00
z: 1.00
w: 0.00
trajectories:
- name: go_to_room1
waypoints:
- sta1
- sta2
- sta3
- sta4
- sta5
- sta6
- sta7
- sta8
- sta9
- sta10
- sta11
- sta12
- sta13
- sta14
- sta15
- sta16
- sta17
- sta18
- sta19
- sta20
- sta21
- sta22
- sta23
- sta24
- sta25
- sta26
- sta27
- sta28
- sta29
- sta30
- sta31
- sta32
- sta33
- sta34
- sta35
- sta36
- sta37
- sta38
- sta39
- sta40
- sta41
- sta42
- sta43
- sta44
- sta45
- sta46
- sta47
- sta48
- sta49
- sta50
- sta51
- sta52
- sta53
- sta54
- sta55
- sta56
- sta57
- sta58
- sta59
- sta60
- sta61
- sta62
- sta63
- sta64
- sta65
- sta66
- sta67
- sta68
- sta69
- sta70
- sta71
- sta72
- sta73
- sta74
- sta75
- sta76
- sta77
- sta78
- sta79
- sta80
- sta81
- sta82
- sta83
- sta84
- sta85
- sta86
- sta87
- sta88
- sta89
- sta90
- sta91
- sta92
- sta93
- sta94
- sta95
- sta96