fix some un-consistent restrictions

LCAS · Oct 3, 2021 · 729cb3f · 729cb3f
1 parent 95c4a8c
commit 729cb3f
Showing 1 changed file with 1 addition and 61 deletions.
diff --git a/topological_navigation/tests/conf/tmap.yaml b/topological_navigation/tests/conf/tmap.yaml
@@ -819,7 +819,7 @@ nodes:
           pose: $node.pose
       node: WayPoint73
       recovery_behaviours_config: ''
-      restrictions_planning: 'True'
+      restrictions_planning: 'robot_tall'
       restrictions_runtime: 'obstacleFree_1'
     - action: move_base
       action_type: move_base_msgs/MoveBaseGoal
@@ -6722,21 +6722,6 @@ nodes:
       recovery_behaviours_config: ''
       restrictions_planning: 'robot_short'
       restrictions_runtime: 'obstacleFree_1'
-    - action: move_base
-      action_type: move_base_msgs/MoveBaseGoal
-      fluid_navigation: True
-      config: []
-      edge_id: small-t1-r1-c0_WayPoint73
-      fail_policy: fail
-      goal:
-        target_pose:
-          header:
-            frame_id: $node.parent_frame
-          pose: $node.pose
-      node: WayPoint73
-      recovery_behaviours_config: ''
-      restrictions_planning: 'robot_short'
-      restrictions_runtime: 'obstacleFree_1'
     - action: move_base
       action_type: move_base_msgs/MoveBaseGoal
       fluid_navigation: True
@@ -7432,21 +7417,6 @@ nodes:
       recovery_behaviours_config: ''
       restrictions_planning: 'robot_short'
       restrictions_runtime: 'obstacleFree_1'
-    - action: move_base
-      action_type: move_base_msgs/MoveBaseGoal
-      fluid_navigation: True
-      config: []
-      edge_id: small-t1-r2-c0_WayPoint73
-      fail_policy: fail
-      goal:
-        target_pose:
-          header:
-            frame_id: $node.parent_frame
-          pose: $node.pose
-      node: WayPoint73
-      recovery_behaviours_config: ''
-      restrictions_planning: 'robot_short'
-      restrictions_runtime: 'obstacleFree_1'
     localise_by_topic: ''
     name: small-t1-r2-c0
     parent_frame: map
@@ -8127,21 +8097,6 @@ nodes:
       recovery_behaviours_config: ''
       restrictions_planning: 'robot_short'
       restrictions_runtime: 'obstacleFree_1'
-    - action: move_base
-      action_type: move_base_msgs/MoveBaseGoal
-      fluid_navigation: True
-      config: []
-      edge_id: small-t1-r3-c0_WayPoint73
-      fail_policy: fail
-      goal:
-        target_pose:
-          header:
-            frame_id: $node.parent_frame
-          pose: $node.pose
-      node: WayPoint73
-      recovery_behaviours_config: ''
-      restrictions_planning: 'robot_short'
-      restrictions_runtime: 'obstacleFree_1'
     localise_by_topic: ''
     name: small-t1-r3-c0
     parent_frame: map
@@ -8837,21 +8792,6 @@ nodes:
       recovery_behaviours_config: ''
       restrictions_planning: 'robot_short'
       restrictions_runtime: 'obstacleFree_1'
-    - action: move_base
-      action_type: move_base_msgs/MoveBaseGoal
-      fluid_navigation: True
-      config: []
-      edge_id: small-t1-r4-c0_WayPoint73
-      fail_policy: fail
-      goal:
-        target_pose:
-          header:
-            frame_id: $node.parent_frame
-          pose: $node.pose
-      node: WayPoint73
-      recovery_behaviours_config: ''
-      restrictions_planning: 'robot_short'
-      restrictions_runtime: 'obstacleFree_1'
     localise_by_topic: ''
     name: small-t1-r4-c0
     parent_frame: map