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# Copyright: 2016-2020 www.corvin.cn ROS小课堂
# Description:使用小车上三个红外测距传感器进行避障
#   走迷宫,这里是一些可以配置的参数.
#   infrared_topic:订阅的红外传感器话题.
#   cmd_topic:控制移动的话题名.
#   yaw_service:发布IMU模块yaw偏行角的服务.
#   infrared_service:发布红外测据信息的服务名.
#   linear_x:移动时前进速度大小.
#   linear_y:横向移动时大小.
#   angular_speed:原地转圈时角速度大小.
#   warn_dist:小车是否可以前进的距离.
#   tolerance_dist:距离容忍值.
#   odom_frame:odom的tf名称.
#   base_frame:底盘的tf名称.
#   forward_dist:每次前进时移动的距离.
# Author: corvin,adam
# History:
#   20200404:init this file.
#   20200406:增加yaw service,rate参数.
#   20200412:增加获取红外测距信息的service.
#   20200424:更新注释,增加参数介绍.
#   20200830:增加初始化参数.
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infrared_topic: /mobilebase_arduino/sensor/GP2Y0A41
cmd_topic: /cmd_vel
yaw_service: /imu_node/GetYawData
infrared_service: /mobilebase_arduino/getInfraredDistance
odom_frame: /odom_combined
base_frame: /base_footprint
linear_x: 0.17
linear_y: 0.15
angular_speed: 0.5
warn_dist: 0.25
tolerance_dist: 0.05
forward_dist: 0.50

init_switch: false
circle_dist: 0.18
wall_dist: 0.16
init_tolerance_dist: 0.01
init_linear_x: 0.17
init_linear_y: 0.05
init_angular_speed: 0.2