Created
December 9, 2017 19:33
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| - meta: | |
| map: tsc20160523 | |
| node: ChargingPoint | |
| pointset: tsc_1611 | |
| tag: | |
| - SafeNode | |
| node: | |
| edges: | |
| - action: undocking | |
| edge_id: ChargingPoint_Station | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Station | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '{"topic": "/battery_state", "field": "charging", "val": true, | |
| "localise_anywhere": false}' | |
| map: tsc20160523 | |
| name: ChargingPoint | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.667606055737 | |
| x: 3.17610648892e-08 | |
| y: 8.52405346308e-09 | |
| z: -0.744514763355 | |
| position: | |
| x: -44.983341217 | |
| y: -5.00732326508 | |
| z: 0.0 | |
| verts: | |
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| - x: 0.442470550537 | |
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| y: -0.845542430878 | |
| - x: 0.3620262146 | |
| y: -0.755453109741 | |
| - x: 0.871604919434 | |
| y: -0.601508617401 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: ChargingPoint1 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: undocking | |
| edge_id: ChargingPoint1_Station1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Station1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '{"topic": "/battery_state", "field": "charging", "val": true, | |
| "localise_anywhere": false}' | |
| map: tsc20160523 | |
| name: ChargingPoint1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.723163425922 | |
| x: -4.49995063434e-08 | |
| y: 3.59731311406e-09 | |
| z: 0.69067710638 | |
| position: | |
| x: 1.72795200348 | |
| y: -0.96485054493 | |
| z: 0.0 | |
| verts: | |
| - x: 0.782116174698 | |
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| y: -0.275127053261 | |
| - x: 0.676295280457 | |
| y: -0.525501132011 | |
| xy_goal_tolerance: 0.0 | |
| yaw_goal_tolerance: 0.0 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpActRec1 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpActRec1_CorpLocker1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec1_CorpLocker2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec1_CorpMeetingPod1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpMeetingPod1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpActRec1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.235353931785 | |
| x: -5.87054627132e-09 | |
| y: 1.36873099521e-08 | |
| z: 0.971909701824 | |
| position: | |
| x: -10.0096940994 | |
| y: -14.7674837112 | |
| z: 6.93889390391e-18 | |
| verts: | |
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| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpActRec2 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpActRec2_CorpMeetingPod2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpMeetingPod2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec2_CorpActRec3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec2_CorpLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpActRec2 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.983080685139 | |
| x: 2.73277649399e-08 | |
| y: 7.99682808861e-09 | |
| z: -0.183173745871 | |
| position: | |
| x: -19.506690979 | |
| y: -13.4268836975 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
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| y: -0.526589393616 | |
| - x: 0.310968399048 | |
| y: -0.139651298523 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpActRec3 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpActRec3_CorpLocker7 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker7 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec3_CorpActRec2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpActRec3_Quasi1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Quasi1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpActRec3 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.976699709892 | |
| x: -3.02445130274e-07 | |
| y: -3.0879968449e-07 | |
| z: 0.214610651135 | |
| position: | |
| x: -21.1627788544 | |
| y: -13.2755870819 | |
| z: 3.46944695195e-18 | |
| verts: | |
| - x: 0.424928665161 | |
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| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLockInside | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: door_wait_and_pass | |
| edge_id: CorpLockInside_CorpLockOutside | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLockOutside | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLockInside_LockCorridor | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: LockCorridor | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLockInside | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.999994218349 | |
| x: 6.78971590062e-09 | |
| y: -2.85237478082e-09 | |
| z: -0.00340392743237 | |
| position: | |
| x: -31.6798801422 | |
| y: -12.4369735718 | |
| z: 6.93889390391e-18 | |
| verts: | |
| - x: 0.689999997616 | |
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| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLockOutside | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLockOutside_CorpLocker8 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker8 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: door_wait_and_pass | |
| edge_id: CorpLockOutside_CorpLockInside | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLockInside | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLockOutside_Quasi1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Quasi1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLockOutside | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.0101355863735 | |
| x: -2.53519027993e-09 | |
| y: 5.53596724018e-09 | |
| z: 0.999948620796 | |
| position: | |
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| y: -12.5133695602 | |
| z: -6.93889390391e-18 | |
| verts: | |
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| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker1 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| - SafeNode | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker1_CorpTransWP4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker1_CorpLocker5 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker5 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker1_CorpActRec1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.703141503485 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -0.711049946261 | |
| position: | |
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| verts: | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker2 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker2_CorpLocker3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker2_CorpActRec1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker2 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.670123292419 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -0.742249804956 | |
| position: | |
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| verts: | |
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| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker3 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker3_CorpLocker2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker3_CorpLocker4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker3 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.626265227795 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -0.779610097408 | |
| position: | |
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| z: 0.0 | |
| verts: | |
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| y: -0.610368728638 | |
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| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker4 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker4_CorpLocker3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker4_CorpMeetingPod2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpMeetingPod2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker4 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.650153636932 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -0.759802758694 | |
| position: | |
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| y: -16.0553016663 | |
| z: 1.38777878078e-17 | |
| verts: | |
| - x: 0.689999997616 | |
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| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker5 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker5_CorpTransWP4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker5_CorpLocker1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker5_CorpMeetingPod1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpMeetingPod1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker5_CorpLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker5 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.733384759579 | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.67981379393 | |
| position: | |
| x: -12.8250139585 | |
| y: -11.8150574225 | |
| z: 0.0 | |
| verts: | |
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| y: -0.689999997616 | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker6 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker6_CorpLocker5 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker5 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker6_CorpLocker7 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker7 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker6_CorpMeetingPod2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpMeetingPod2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker6_CorpActRec2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker6 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.773506083692 | |
| x: 0.0 | |
| y: 0.0 | |
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| position: | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker7 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker7_CorpLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker7_CorpLocker8 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker8 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker7_CorpActRec3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker7_Quasi1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Quasi1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker7 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.023872256279 | |
| x: -4.47064394393e-08 | |
| y: -2.4300815582e-08 | |
| z: 0.999715030193 | |
| position: | |
| x: -22.4460487366 | |
| y: -12.0434064865 | |
| z: 1.38777878078e-17 | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpLocker8 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpLocker8_CorpLocker7 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker7 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker8_CorpLockOutside | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLockOutside | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpLocker8_Quasi1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: Quasi1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpLocker8 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.0153347840533 | |
| x: -3.7829380517e-08 | |
| y: -3.83291478556e-08 | |
| z: 0.999882400036 | |
| position: | |
| x: -25.6715888977 | |
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| - x: 0.689999997616 | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpMeetingPod1 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpMeetingPod1_CorpLocker5 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker5 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpMeetingPod1_CorpActRec1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpMeetingPod1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.99991184473 | |
| x: 2.28068710584e-08 | |
| y: -5.00186381203e-08 | |
| z: -0.0132795358077 | |
| position: | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpMeetingPod2 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpMeetingPod2_CorpLocker4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpMeetingPod2_CorpActRec2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpActRec2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpMeetingPod2_CorpLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpMeetingPod2 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.0378226973116 | |
| x: -8.86186057869e-08 | |
| y: -3.15815071872e-08 | |
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| position: | |
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| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: CorpTransWP1 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpTransWP1_GlassCorridor3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: GlassCorridor3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: door_wait_and_move_base | |
| edge_id: CorpTransWP1_CorpTransWP2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP1_NarrowGlass1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: NarrowGlass1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpTransWP1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
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| xy_goal_tolerance: 0.3 | |
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| - meta: | |
| map: tsc20160523 | |
| node: CorpTransWP2 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: door_wait_and_move_base | |
| edge_id: CorpTransWP2_CorpTransWP1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP2_CorpTransWP4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpTransWP2 | |
| pointset: tsc_1611 | |
| pose: | |
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| xy_goal_tolerance: 0.3 | |
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| - meta: | |
| map: tsc20160523 | |
| node: CorpTransWP3 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpTransWP3_CorpTransWP4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP3_NarrowGlass2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: NarrowGlass2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpTransWP3 | |
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| - meta: | |
| map: tsc20160523 | |
| node: CorpTransWP4 | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: CorpTransWP4_CorpTransWP2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP4_CorpTransWP3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpTransWP3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP4_CorpLocker1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: CorpTransWP4_CorpLocker5 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker5 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: CorpTransWP4 | |
| pointset: tsc_1611 | |
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| - meta: | |
| map: tsc20160523 | |
| node: FrontDoor | |
| pointset: tsc_1611 | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: FrontDoor_ReceptionDesk | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: ReceptionDesk | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: FrontDoor_GlassCorridor0 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: GlassCorridor0 | |
| recovery_behaviours_config: '' | |
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| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: Quasi1_CorpLocker8 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: CorpLocker8 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: Quasi1 | |
| pointset: tsc_1611 | |
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| node: Quasi2 | |
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| tag: | |
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| node: | |
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| node: NewArea3 | |
| recovery_behaviours_config: '' | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: Quasi2 | |
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| node: Quasi3 | |
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| node: NewArea3 | |
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| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: Quasi3_NewArea7 | |
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| map_2d: tsc20160523 | |
| node: NewArea7 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
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| map_2d: tsc20160523 | |
| node: NewArea9 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: Quasi3 | |
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| node: ReceptionDesk | |
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| node: | |
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| node: ReceptionKitchen | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: ReceptionDesk_FrontDoor | |
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| node: FrontDoor | |
| recovery_behaviours_config: '' | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: ReceptionDesk | |
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| - meta: | |
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| node: ReceptionKitchen | |
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| node: | |
| edges: | |
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| edge_id: ReceptionKitchen_ReceptionDesk | |
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| node: ReceptionDesk | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: ReceptionKitchen | |
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| node: SmallKitchen | |
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| node: HospActRec1 | |
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| edge_id: SmallKitchen_HospActRec4 | |
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| node: HospActRec4 | |
| recovery_behaviours_config: '' | |
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| - action: move_base | |
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| node: Station1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SmallKitchen | |
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| map: tsc20160523 | |
| node: Station | |
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| node: | |
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| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: KitchenCounter1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: docking | |
| edge_id: Station_ChargingPoint | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: ChargingPoint | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: Station_KitchenEntrance | |
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| map_2d: tsc20160523 | |
| node: KitchenEntrance | |
| recovery_behaviours_config: '' | |
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| - action: move_base | |
| edge_id: Station_KitchenActRec1 | |
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| map_2d: tsc20160523 | |
| node: KitchenActRec1 | |
| recovery_behaviours_config: '' | |
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| node: NewArea1 | |
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| map: tsc20160523 | |
| name: Station | |
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| node: Station1 | |
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| node: ChargingPoint1 | |
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| - action: move_base | |
| edge_id: Station1_SmallKitchen | |
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| map_2d: tsc20160523 | |
| node: SmallKitchen | |
| recovery_behaviours_config: '' | |
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| map: tsc20160523 | |
| name: Station1 | |
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| node: SuppActRec1 | |
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| edge_id: SuppActRec1_SuppPrintCopy | |
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| map_2d: tsc20160523 | |
| node: SuppPrintCopy | |
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| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppActRec1_SuppLocker3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppActRec1_SuppLocker4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppActRec1_SuppLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker6 | |
| recovery_behaviours_config: '' | |
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| - action: move_base | |
| edge_id: SuppActRec1_SuppTransWP2 | |
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| map_2d: tsc20160523 | |
| node: SuppTransWP2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppActRec1 | |
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| node: SuppLockInside | |
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| node: | |
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| map_2d: tsc20160523 | |
| node: LockCorridor | |
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| top_vel: 0.55 | |
| - action: door_wait_and_pass | |
| edge_id: SuppLockInside_SuppLockOutside | |
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| map_2d: tsc20160523 | |
| node: SuppLockOutside | |
| recovery_behaviours_config: '' | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLockInside | |
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| node: SuppLockOutside | |
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| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLockInside | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLockOutside_KitchenEntrance | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: KitchenEntrance | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLockOutside_LearningTable1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: LearningTable1 | |
| recovery_behaviours_config: '' | |
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| edge_id: SuppLockOutside_KitchenActRec1 | |
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| node: KitchenActRec1 | |
| recovery_behaviours_config: '' | |
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| map: tsc20160523 | |
| name: SuppLockOutside | |
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| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker1 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker1_SuppLocker2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker1_SuppLocker13 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker13 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker1 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.325197428465 | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.945646166801 | |
| position: | |
| x: -43.7640037537 | |
| y: -16.2645015717 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker10 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker10_SuppMeetingPod2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppMeetingPod2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker10_SuppLocker9 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker9 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker10_SuppLocker11 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker11 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker10_SuppMeetingPod1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppMeetingPod1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker10 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.702519893646 | |
| x: 1.9486119e-09 | |
| y: 3.3881116e-09 | |
| z: 0.711664199829 | |
| position: | |
| x: -50.5738563538 | |
| y: -26.2980003357 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker11 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker11_SuppLocker9 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker9 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker11_SuppLocker12 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker12 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker11_SuppLocker10 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker10 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker11 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.700534343719 | |
| x: 1.10790443486e-09 | |
| y: 3.99984010357e-08 | |
| z: 0.713618814945 | |
| position: | |
| x: -52.4292984009 | |
| y: -23.2933006287 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.286999613047 | |
| y: 0.690000474453 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker12 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker12_SuppLocker11 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker11 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker12_SuppLocker13 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker13 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker12_SuppLocker14 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker14 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker12 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.0554814450443 | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.99845969677 | |
| position: | |
| x: -52.7668266296 | |
| y: -19.0270557404 | |
| z: -6.93889390391e-18 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker13 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker13_SuppLocker1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker13_SuppLocker2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker13_SuppLocker12 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker12 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker13_SuppLocker14 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker14 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker13 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.738405585289 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -0.674356877804 | |
| position: | |
| x: -50.5977745056 | |
| y: -17.6564216614 | |
| z: -6.93889390391e-18 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker14 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker14_SuppLocker12 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker12 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker14_SuppLocker13 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker13 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker14 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.999101877213 | |
| x: -3.57965346254e-09 | |
| y: -5.27480892298e-10 | |
| z: 0.0423719398677 | |
| position: | |
| x: -52.8425102234 | |
| y: -15.3897657394 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker15 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker15_SuppMeetingPod2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppMeetingPod2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker15_SuppTransWP1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppTransWP1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker15_SuppLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker15_SuppTransWP2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppTransWP2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker15 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.154537081718 | |
| x: -1.8005744451e-08 | |
| y: 2.2873644312e-08 | |
| z: -0.987987041473 | |
| position: | |
| x: -47.151260376 | |
| y: -29.2359905243 | |
| z: 6.93889390391e-18 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker2 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker2_SuppTransWP1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppTransWP1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker2_SuppLocker1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker2_SuppMeetingPod1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppMeetingPod1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker2_SuppLocker13 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker13 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker2_LearningTable1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: LearningTable1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker2 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: -0.0228305887431 | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.999739348888 | |
| position: | |
| x: -43.3949127197 | |
| y: -19.5951557159 | |
| z: 0.0 | |
| verts: | |
| - x: 1.443775177 | |
| y: 0.268375396729 | |
| - x: 1.14931488037 | |
| y: 1.35683250427 | |
| - x: -0.643600463867 | |
| y: 1.38343048096 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.654327392578 | |
| y: -1.55055618286 | |
| - x: 0.653774261475 | |
| y: -1.41478919983 | |
| - x: 1.39849090576 | |
| y: -1.32451438904 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker3 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| - SafeNode | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker3_SuppLocker4 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker4 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker3_SuppLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker3_SuppTransWP2 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppTransWP2 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker3_SuppActRec1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppActRec1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker3 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
| w: 0.693901240826 | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.720070183277 | |
| position: | |
| x: -43.3038330078 | |
| y: -33.2322158813 | |
| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.689999997616 | |
| y: 0.287000000477 | |
| - x: -0.689999997616 | |
| y: -0.287000000477 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 | |
| - meta: | |
| map: tsc20160523 | |
| node: SuppLocker4 | |
| pointset: tsc_1611 | |
| tag: | |
| - Exploration | |
| node: | |
| edges: | |
| - action: move_base | |
| edge_id: SuppLocker4_SuppLocker3 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker3 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker4_SuppLocker5 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker5 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker4_SuppLocker6 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppLocker6 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
| edge_id: SuppLocker4_SuppActRec1 | |
| inflation_radius: 0.0 | |
| map_2d: tsc20160523 | |
| node: SuppActRec1 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker4 | |
| pointset: tsc_1611 | |
| pose: | |
| orientation: | |
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| node: SuppLocker5 | |
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| tag: | |
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| - SafeNode | |
| node: | |
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| node: SuppLocker4 | |
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| top_vel: 0.55 | |
| - action: move_base | |
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| node: SuppLocker7 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker5 | |
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| node: SuppLocker15 | |
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| - action: move_base | |
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| node: SuppLocker3 | |
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| top_vel: 0.55 | |
| - action: move_base | |
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| node: SuppLocker4 | |
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| edge_id: SuppLocker6_SuppTransWP2 | |
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| node: SuppTransWP2 | |
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| - action: move_base | |
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| node: SuppActRec1 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker6 | |
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| node: SuppLocker5 | |
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| node: SuppLocker8 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker7 | |
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| node: SuppLocker7 | |
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| node: SuppLocker9 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppLocker8 | |
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| - meta: | |
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| node: SuppLocker9 | |
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| tag: | |
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| node: | |
| edges: | |
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| edge_id: SuppLocker9_SuppLocker8 | |
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| node: SuppLocker8 | |
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| - action: move_base | |
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| node: SuppLocker11 | |
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| map: tsc20160523 | |
| name: SuppLocker9 | |
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| node: SuppMeetingPod1 | |
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| node: SuppLocker2 | |
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| - action: move_base | |
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| node: SuppTransWP1 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppMeetingPod1 | |
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| node: SuppMeetingPod2 | |
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| - action: move_base | |
| edge_id: SuppMeetingPod2_SuppLocker15 | |
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| node: SuppLocker15 | |
| recovery_behaviours_config: '' | |
| top_vel: 0.55 | |
| - action: move_base | |
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| node: SuppTransWP1 | |
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| top_vel: 0.55 | |
| - action: move_base | |
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| map: tsc20160523 | |
| name: SuppMeetingPod2 | |
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| - meta: | |
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| node: SuppPrintCopy | |
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| edge_id: SuppPrintCopy_SuppActRec1 | |
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| name: SuppPrintCopy | |
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| node: SuppMeetingPod1 | |
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| node: SuppLocker2 | |
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| node: SuppMeetingPod2 | |
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| node: SuppLocker15 | |
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| - action: move_base | |
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| node: SuppTransWP2 | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppTransWP1 | |
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| node: | |
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| node: SuppLocker15 | |
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| node: SuppLocker3 | |
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| node: SuppTransWP1 | |
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| node: SuppLocker6 | |
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| node: SuppActRec1 | |
| recovery_behaviours_config: '' | |
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| localise_by_topic: '' | |
| map: tsc20160523 | |
| name: SuppTransWP2 | |
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| z: 0.0 | |
| verts: | |
| - x: 0.689999997616 | |
| y: 0.287000000477 | |
| - x: 0.597915410995 | |
| y: 1.05757665634 | |
| - x: -0.287000000477 | |
| y: 0.689999997616 | |
| - x: -0.291290551424 | |
| y: 0.296235591173 | |
| - x: -0.360508233309 | |
| y: -0.243290379643 | |
| - x: -0.287000000477 | |
| y: -0.689999997616 | |
| - x: 0.611713171005 | |
| y: -0.690739095211 | |
| - x: 0.689999997616 | |
| y: -0.287000000477 | |
| xy_goal_tolerance: 0.3 | |
| yaw_goal_tolerance: 0.1 |
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