forked from xtdrone/XTDrone
34 lines
1.4 KiB
XML
34 lines
1.4 KiB
XML
<?xml version="1.0"?>
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<world xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="stationkeeping" params="**wp_markers lat:=21.31091 lon:=-157.88868 heading:=0.0 namespace:=wamv competition:=vrx">
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<plugin name="stationkeeping_scoring_plugin"
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filename="libstationkeeping_scoring_plugin.so">
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<vehicle>${namespace}</vehicle>
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<task_name>stationkeeping</task_name>
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<rms_error_topic>/${competition}/station_keeping/rms_error</rms_error_topic>
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<pose_error_topic>/${competition}/station_keeping/pose_error</pose_error_topic>
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<goal_topic>/${competition}/station_keeping/goal</goal_topic>
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<task_info_topic>/${competition}/task/info</task_info_topic>
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<contact_debug_topic>/${competition}/debug/contact</contact_debug_topic>
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<per_plugin_exit_on_completion>true</per_plugin_exit_on_completion>
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<!-- Goal as Latitude, Longitude, Yaw -->
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<goal_pose>${lat} ${lon} ${heading}</goal_pose>
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<initial_state_duration>10</initial_state_duration>
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<ready_state_duration>10</ready_state_duration>
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<running_state_duration>300</running_state_duration>
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<release_joints>
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<joint>
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<name>${namespace}_external_pivot_joint</name>
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</joint>
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<joint>
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<name>${namespace}_external_riser</name>
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</joint>
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</release_joints>
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<xacro:insert_block name="wp_markers" />
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</plugin>
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</xacro:macro>
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</world>
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