nav_controller_node/goals.yaml at master · icboredman/nav_controller_node · GitHub

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commands:
  - id: g
    name: GO
  - id: m
    name: MOVE
  - id: t
    name: TURN
  - id: s
    name: STOP
  - id: b
    name: BATTERY
  - id: i
    name: TIME
  - id: n
    name: NAME
  - id: c
    name: COME

goals:
  - id: 0
    name: HOME
    pose: [-0.2, -0.2, 0, 0, 0, 0, 1]
  - id: 1
    name: OFFICE
    pose: [1, 0.6, 0, 0, 0, -0.7071, 0.7071]
  - id: 2
    name: LIVINGROOM
    pose: [0.5, 3.5, 0, 0, 0, 0, 1]
  - id: 3
    name: KITCHEN
    pose: [5.6, 4.5, 0, 0, 0, 0.7071, 0.7071]
  - id: 4
    name: CORRIDOR
    pose: [7.4, 1.6, 0, 0, 0, 1, 0]

numbers:
  - id: 0
    name: HALF
    value: 0.5
  - id: 1
    name: ONE
    value: 1.0
  - id: 2
    name: TWO
    value: 2.0
  - id: 3
    name: THREE
    value: 3.0

moves:
  - id: f
    name: FORWARD
    pose: [1, 0, 0, 0, 0, 0, 1]
  - id: b
    name: BACKWARDS
    pose: [-1, 0, 0, 0, 0, 0, 1]
  - id: l
    name: LEFT
    pose: [0, 1, 0, 0, 0, 0, 1]
  - id: r
    name: RIGHT
    pose: [0, -1, 0, 0, 0, 0, 1]

turns:
  - id: a
    name: AROUND
    pose: [0, 0, 0, 0, 0, 1, 0]
  - id: l
    name: LEFT
    pose: [0, 0, 0, 0, 0, 0.7071, 0.7071]
  - id: r
    name: RIGHT
    pose: [0, 0, 0, 0, 0, -0.7071, 0.7071]


# pose[0] = position.x
# pose[1] = position.y
# pose[2] = position.z
# pose[3] = orientation.x
# pose[4] = orientation.y
# pose[5] = orientation.z
# pose[6] = orientation.w