From 2779d160730a695a7039489cbed31564d16926fc Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Sun, 14 Feb 2021 17:50:23 +0000 Subject: [PATCH 1/3] added test maps --- topological_navigation/maps/riseholme.tmap2 | 10158 ++++++++++++++++++ topological_navigation/maps/test.tmap2 | 298 + 2 files changed, 10456 insertions(+) create mode 100644 topological_navigation/maps/riseholme.tmap2 create mode 100644 topological_navigation/maps/test.tmap2 diff --git a/topological_navigation/maps/riseholme.tmap2 b/topological_navigation/maps/riseholme.tmap2 new file mode 100644 index 00000000..22975732 --- /dev/null +++ b/topological_navigation/maps/riseholme.tmap2 @@ -0,0 +1,10158 @@ +meta: + last_updated: 2021-02-14_16-34-32 +metric_map: riseholme +name: riseholme_rtk +nodes: +- meta: + map: riseholme + node: WayPoint1 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint1_WayPoint2 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint2 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint1_WayPoint5 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint5 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint1 + pose: + orientation: + w: -0.743730425835 + x: 2.45310548053e-06 + y: 4.24689324063e-06 + z: 0.668479681015 + position: + x: 14.3593025208 + y: -20.0007381439 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint10 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint10_WayPoint11 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint11 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint10_WayPoint27 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint27 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint10_WayPoint9 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint9 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint10 + pose: + orientation: + w: 0.656525313854 + x: 3.70586690224e-07 + y: -5.41462168258e-06 + z: 0.754303991795 + position: + x: 18.3387432098 + y: -37.5582046509 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint100 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint100_WayPoint101 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint101 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint100_WayPoint99 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint99 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint100 + pose: + orientation: + w: 0.759505271912 + x: 6.15078548094e-08 + y: 1.23771703997e-08 + z: -0.650501430035 + position: + x: 27.0758609772 + y: -32.8316116333 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint101 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint101_WayPoint100 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint100 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint101_WayPoint110 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint110 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint101_WayPoint84 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint84 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint101 + pose: + orientation: + w: -0.660229682922 + x: 2.97418800699e-08 + y: 8.14514589109e-09 + z: -0.751063764095 + position: + x: 27.5788059235 + y: -36.0844459534 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint102 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint102_WayPoint103 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint103 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint102_WayPoint133 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint133 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint102 + pose: + orientation: + w: 0.754510998726 + x: 4.59638300754e-08 + y: 4.60633131638e-09 + z: -0.656287431717 + position: + x: 25.3605175018 + y: -12.2501955032 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint103 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint103_WayPoint102 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint102 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint103_WayPoint104 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint104 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint103 + pose: + orientation: + w: 0.760897159576 + x: 4.53539108491e-08 + y: -3.90961796271e-09 + z: -0.648872554302 + position: + x: 25.8081817627 + y: -15.2022790909 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint104 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint104_WayPoint103 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint103 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint104_WayPoint105 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint105 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint104 + pose: + orientation: + w: 0.754369735718 + x: 4.83801656515e-08 + y: -1.00373531708e-09 + z: -0.656449735165 + position: + x: 26.2364063263 + y: -18.1461925507 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint105 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint105_WayPoint104 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint104 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint105_WayPoint106 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint106 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint105 + pose: + orientation: + w: 0.754276573658 + x: 3.7411375331e-08 + y: -8.04823985234e-11 + z: -0.656557023525 + position: + x: 26.6760425568 + y: -21.1543064117 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint106 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint106_WayPoint105 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint105 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint106_WayPoint107 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint107 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint106 + pose: + orientation: + w: 0.757887661457 + x: 4.53817108337e-08 + y: -3.4147391581e-09 + z: -0.652385056019 + position: + x: 27.1222896576 + y: -24.127363205 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint107 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint107_WayPoint106 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint106 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint107_WayPoint108 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint108 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint107 + pose: + orientation: + w: 0.759579896927 + x: 4.7181991647e-08 + y: -1.86219373255e-09 + z: -0.650413930416 + position: + x: 27.5532512665 + y: -27.1100406647 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint108 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint108_WayPoint107 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint107 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint108_WayPoint109 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint109 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint108 + pose: + orientation: + w: 0.754159092903 + x: 4.398137321e-08 + y: -3.13579184841e-09 + z: -0.656692028046 + position: + x: 27.9826469421 + y: -29.9455871582 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint109 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint109_WayPoint108 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint108 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint109_WayPoint110 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint110 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint109 + pose: + orientation: + w: 0.758888304234 + x: 4.68666101483e-08 + y: -5.11207409737e-10 + z: -0.651220977306 + position: + x: 28.4023971558 + y: -32.6037559509 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint11 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint11_WayPoint10 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint10 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint11_WayPoint12 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint12 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint11 + pose: + orientation: + w: 0.762576282024 + x: -1.15608440865e-06 + y: -3.21682421145e-07 + z: -0.646898329258 + position: + x: 17.8227806091 + y: -34.2429962158 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint110 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint110_WayPoint101 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint101 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint110_WayPoint109 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint109 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint110_WayPoint119 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint119 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint110 + pose: + orientation: + w: 0.655200958252 + x: -4.52408954743e-08 + y: -1.4491614575e-09 + z: 0.755454659462 + position: + x: 28.9272651672 + y: -35.8926277161 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint111 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint111_WayPoint112 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint112 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint111_WayPoint132 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint132 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint111 + pose: + orientation: + w: 0.749494552612 + x: 4.78137849313e-07 + y: -8.65346123646e-08 + z: -0.662010550499 + position: + x: 26.6912136078 + y: -12.0387353897 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint112 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint112_WayPoint111 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint111 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint112_WayPoint113 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint113 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint112 + pose: + orientation: + w: -0.757915914059 + x: 1.97452408202e-07 + y: 1.19776700558e-07 + z: 0.652352273464 + position: + x: 27.096988678 + y: -14.9588832855 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint113 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint113_WayPoint112 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint112 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint113_WayPoint114 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint114 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint113 + pose: + orientation: + w: 0.754375934601 + x: 1.43528609442e-07 + y: 8.41210123781e-08 + z: -0.656442761421 + position: + x: 27.5576038361 + y: -17.9469604492 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint114 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint114_WayPoint113 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint113 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint114_WayPoint115 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint115 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint114 + pose: + orientation: + w: 0.769605755806 + x: 5.73443514895e-07 + y: 3.26987958488e-07 + z: -0.638519406319 + position: + x: 27.9816970825 + y: -20.9165611267 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint115 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint115_WayPoint114 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint114 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint115_WayPoint116 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint116 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint115 + pose: + orientation: + w: -0.759834766388 + x: 4.19522024231e-07 + y: 3.00681620047e-07 + z: 0.650116205215 + position: + x: 28.4337234497 + y: -23.8927497864 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint116 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint116_WayPoint115 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint115 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint116_WayPoint117 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint117 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint116 + pose: + orientation: + w: -0.758023619652 + x: 8.77043362379e-08 + y: 1.02428529658e-07 + z: 0.652227163315 + position: + x: 28.864200592 + y: -26.874786377 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint117 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint117_WayPoint116 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint116 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint117_WayPoint118 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint118 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint117 + pose: + orientation: + w: -0.756410479546 + x: 2.28002519975e-07 + y: 1.34897049975e-07 + z: 0.654097378254 + position: + x: 29.30610466 + y: -29.706653595 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint118 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint118_WayPoint117 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint117 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint118_WayPoint119 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint119 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint118 + pose: + orientation: + w: 0.75625038147 + x: 1.95471585585e-07 + y: 9.33847985607e-08 + z: -0.654282391071 + position: + x: 29.6873836517 + y: -32.3858337402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint119 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint119_WayPoint110 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint110 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint119_WayPoint118 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint118 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint119_WayPoint120 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint120 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint119 + pose: + orientation: + w: -0.659576416016 + x: -8.70394032404e-08 + y: 1.42960075777e-07 + z: -0.751637518406 + position: + x: 30.214345932 + y: -35.6641731262 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint12 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint12_WayPoint11 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint11 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint12_WayPoint13 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint13 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint12 + pose: + orientation: + w: -0.753126144409 + x: 2.79063584685e-07 + y: 8.51532035995e-08 + z: 0.657876193523 + position: + x: 17.4226551056 + y: -31.5403862 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint120 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint120_WayPoint119 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint119 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint120_WayPoint121 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint121 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint120 + pose: + orientation: + w: -0.652000904083 + x: -7.73158717493e-07 + y: 9.40937525229e-07 + z: -0.758218169212 + position: + x: 31.5318813324 + y: -35.4803314209 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint121 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint121_WayPoint120 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint120 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint121_WayPoint122 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint122 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint121 + pose: + orientation: + w: -0.756206989288 + x: 1.22671650615e-08 + y: 1.92243021502e-08 + z: 0.654332458973 + position: + x: 30.9943161011 + y: -32.1680183411 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint122 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint122_WayPoint121 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint121 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint122_WayPoint123 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint123 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint122 + pose: + orientation: + w: -0.74742269516 + x: 3.36468986006e-09 + y: 3.99175661414e-08 + z: 0.664348840714 + position: + x: 30.616941452 + y: -29.48229599 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint123 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint123_WayPoint122 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint122 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint123_WayPoint124 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint124 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint123 + pose: + orientation: + w: -0.756174385548 + x: 1.57045541016e-08 + y: 4.29234709998e-08 + z: 0.654370307922 + position: + x: 30.2024612427 + y: -26.6651992798 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint124 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint124_WayPoint123 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint123 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint124_WayPoint125 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint125 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint124 + pose: + orientation: + w: 0.754291713238 + x: 6.55458478604e-08 + y: 3.81275668815e-08 + z: -0.656539440155 + position: + x: 29.7399158478 + y: -23.6714191437 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint125 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint125_WayPoint124 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint124 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint125_WayPoint126 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint126 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint125 + pose: + orientation: + w: 0.754170238972 + x: -2.97634784374e-07 + y: -3.37541763429e-07 + z: -0.656679093838 + position: + x: 29.3026542664 + y: -20.6969528198 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint126 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint126_WayPoint125 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint125 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint126_WayPoint127 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint127 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint126 + pose: + orientation: + w: 0.7566203475 + x: -1.14938211482e-06 + y: -1.19235630791e-06 + z: -0.653854489326 + position: + x: 28.8726902008 + y: -17.7549953461 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint127 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint127_WayPoint126 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint126 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint127_WayPoint128 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint128 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint127 + pose: + orientation: + w: 0.745485901833 + x: 7.70066719724e-07 + y: 7.68246366079e-07 + z: -0.666521430016 + position: + x: 28.4344120026 + y: -14.7663555145 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint128 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint128_WayPoint127 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint127 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint128_WayPoint131 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint131 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint128 + pose: + orientation: + w: -0.741522192955 + x: 1.19206077898e-07 + y: 1.28474994199e-07 + z: 0.67092859745 + position: + x: 28.0014972687 + y: -11.838634491 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint13 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint13_WayPoint12 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint12 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint13_WayPoint14 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint14 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint13 + pose: + orientation: + w: 0.760125935078 + x: 1.61204440019e-07 + y: 1.03318086531e-07 + z: -0.649775743484 + position: + x: 17.0095767975 + y: -28.7013568878 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint131 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint131_WayPoint67 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint67 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint131_WayPoint128 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint128 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint131 + pose: + orientation: + w: -0.764781057835 + x: -2.75078946288e-07 + y: -8.78142856209e-08 + z: 0.644290268421 + position: + x: 27.4523868561 + y: -8.19784164429 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint132 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint132_WayPoint111 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint111 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint132_WayPoint67 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint67 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint132_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint132 + pose: + orientation: + w: -0.751528859138 + x: -4.10163387699e-08 + y: 3.98763999598e-09 + z: 0.659700214863 + position: + x: 26.1096096039 + y: -8.40456008911 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint133 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint133_WayPoint102 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint102 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint133_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint133 + pose: + orientation: + w: 0.762418210506 + x: 6.03614296324e-08 + y: 1.67755924707e-08 + z: -0.647084593773 + position: + x: 24.8682613373 + y: -8.61820888519 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint134 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint134_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint134_WayPoint93 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint93 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint134 + pose: + orientation: + w: -0.746649265289 + x: 2.66044480668e-07 + y: 2.95388673521e-07 + z: 0.665217936039 + position: + x: 23.5281543732 + y: -8.83518409729 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint138 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint138_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint138_WayPoint74 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint74 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint138_WayPoint92 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint92 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint138 + pose: + orientation: + w: -0.753588676453 + x: -3.64702366085e-08 + y: -1.68724412219e-09 + z: 0.657346248627 + position: + x: 22.2297763824 + y: -9.03001594543 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint139 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint139_WayPoint74 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint74 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint139_WayPoint80 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint80 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint139 + pose: + orientation: + w: 0.754034161568 + x: 3.90484373725e-08 + y: -3.42211092796e-10 + z: -0.656835198402 + position: + x: 20.9134960175 + y: -9.25094509125 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint14 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint14_WayPoint13 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint13 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint14_WayPoint15 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint15 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint14 + pose: + orientation: + w: -0.755561351776 + x: 2.96249673681e-08 + y: 2.22623288693e-08 + z: 0.655077934265 + position: + x: 16.5653171539 + y: -25.7429676056 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint140 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint140_WayPoint74 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint74 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint140_WayPoint141 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint141 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint140_WayPoint142 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint142 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint140 + pose: + orientation: + w: 0.789774894714 + x: 3.34536558455e-08 + y: -6.81063783148e-09 + z: -0.613396763802 + position: + x: 20.7508434296 + y: -4.37950954437 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint141 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint141_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint141_WayPoint140 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint140 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint141 + pose: + orientation: + w: 0.802970409393 + x: 3.57145779617e-08 + y: 1.33213340359e-09 + z: -0.596019089222 + position: + x: 23.3039474487 + y: -3.95409524918 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint142 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint142_WayPoint140 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint140 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint142_WayPoint66 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint66 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint142_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint142 + pose: + orientation: + w: 0.7798153162 + x: 3.76410937974e-08 + y: -6.30533980583e-09 + z: -0.626009762287 + position: + x: 17.9042915344 + y: -4.71533472061 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint143 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint143_WayPoint67 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint67 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint143_WayPoint68 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint68 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint143 + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 28.45 + y: -1.7 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint15 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint15_WayPoint14 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint14 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint15_WayPoint16 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint16 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint15 + pose: + orientation: + w: 0.752446889877 + x: -1.39554543921e-07 + y: -4.40514114075e-08 + z: -0.658653080463 + position: + x: 16.1214294434 + y: -22.7858409882 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint16 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint16_WayPoint15 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint15 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint16_WayPoint17 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint17 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint16 + pose: + orientation: + w: -0.759842395782 + x: 1.70122177678e-07 + y: 6.46598650178e-08 + z: 0.650107324123 + position: + x: 15.6782636642 + y: -19.7898082733 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint17 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint17_WayPoint16 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint16 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint17_WayPoint18 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint18 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint17 + pose: + orientation: + w: -0.760682404041 + x: 2.53844746112e-06 + y: 1.18708896935e-06 + z: 0.649124383926 + position: + x: 15.2257575989 + y: -16.8021087646 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint18 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint18_WayPoint17 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint17 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint18_WayPoint64 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint64 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint18 + pose: + orientation: + w: -0.759945333004 + x: 4.85560107677e-08 + y: 3.56774947363e-08 + z: 0.64998704195 + position: + x: 14.78764534 + y: -13.8147888184 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint19 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint19_WayPoint20 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint20 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint19_WayPoint60 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint60 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint19 + pose: + orientation: + w: -0.754075825214 + x: -4.58504075596e-07 + y: -2.4744986149e-07 + z: 0.656787395477 + position: + x: 16.1054954529 + y: -13.6399888992 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint2 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint2_WayPoint1 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint1 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint2_WayPoint6 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint6 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint2 + pose: + orientation: + w: -0.744469821453 + x: 4.96480822676e-07 + y: 2.02697833629e-07 + z: 0.667656064034 + position: + x: 13.8925037384 + y: -16.9936542511 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint20 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint20_WayPoint19 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint19 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint20_WayPoint21 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint21 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint20 + pose: + orientation: + w: -0.758058488369 + x: 2.51660793538e-07 + y: 2.48719430829e-07 + z: 0.652186632156 + position: + x: 16.5508289337 + y: -16.6063117981 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint21 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint21_WayPoint20 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint20 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint21_WayPoint22 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint22 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint21 + pose: + orientation: + w: 0.753698050976 + x: 1.54055476287e-06 + y: 9.91609567791e-07 + z: -0.657220840454 + position: + x: 16.993724823 + y: -19.6200008392 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint22 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint22_WayPoint21 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint21 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint22_WayPoint23 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint23 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint22 + pose: + orientation: + w: -0.751192986965 + x: 7.52898827727e-08 + y: 5.71430796015e-08 + z: 0.660082638264 + position: + x: 17.443315506 + y: -22.6079063416 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint23 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint23_WayPoint22 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint22 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint23_WayPoint24 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint24 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint23 + pose: + orientation: + w: -0.756403625011 + x: 3.92328416865e-07 + y: 3.10649170387e-07 + z: 0.654105186462 + position: + x: 17.8889732361 + y: -25.5759887695 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint24 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint24_WayPoint23 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint23 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint24_WayPoint25 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint25 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint24 + pose: + orientation: + w: -0.752208530903 + x: 6.09304535715e-08 + y: 6.76274467537e-08 + z: 0.658925116062 + position: + x: 18.3420028687 + y: -28.5196590424 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint25 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint25_WayPoint24 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint24 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint25_WayPoint26 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint26 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint25 + pose: + orientation: + w: -0.746312916279 + x: -6.4692611268e-09 + y: 2.87535808496e-08 + z: 0.66559523344 + position: + x: 18.7769870758 + y: -31.3710441589 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint26 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint26_WayPoint25 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint25 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint26_WayPoint27 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint27 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint26 + pose: + orientation: + w: 0.762100756168 + x: 6.36948556121e-08 + y: 1.16778009485e-08 + z: -0.647458553314 + position: + x: 19.1748714447 + y: -34.0763549805 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint27 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint27_WayPoint10 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint10 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint27_WayPoint26 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint26 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint27_WayPoint36 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint36 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint27 + pose: + orientation: + w: -0.647208213806 + x: 2.63867967476e-08 + y: -2.35936550297e-08 + z: -0.762313246727 + position: + x: 19.6571006775 + y: -37.3501281738 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint28 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint28_WayPoint29 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint29 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint28_WayPoint59 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint59 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint28 + pose: + orientation: + w: 0.760084211826 + x: 4.35769074159e-08 + y: -4.08923295225e-09 + z: -0.649824559689 + position: + x: 17.4244594574 + y: -13.4327507019 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint29 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint29_WayPoint28 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint28 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint29_WayPoint30 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint30 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint29 + pose: + orientation: + w: 0.751457095146 + x: 3.79818203555e-08 + y: -2.3583401898e-09 + z: -0.659781992435 + position: + x: 17.8708305359 + y: -16.3897857666 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint3 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint3_WayPoint4 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint4 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint3_WayPoint7 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint7 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint3 + pose: + orientation: + w: 0.749245047569 + x: -1.30127219222e-07 + y: -1.63945969689e-07 + z: -0.662292897701 + position: + x: 15.6815023422 + y: -28.8869838715 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint30 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint30_WayPoint29 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint29 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint30_WayPoint31 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint31 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint30 + pose: + orientation: + w: 0.75563710928 + x: 4.04210105387e-08 + y: -4.07218614384e-09 + z: -0.654990494251 + position: + x: 18.3346843719 + y: -19.4094963074 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint31 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint31_WayPoint30 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint30 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint31_WayPoint32 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint32 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint31 + pose: + orientation: + w: 0.761579334736 + x: 4.11893026353e-08 + y: -1.05642978809e-08 + z: -0.648071825504 + position: + x: 18.7772445679 + y: -22.3877277374 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint32 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint32_WayPoint31 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint31 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint32_WayPoint33 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint33 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint32 + pose: + orientation: + w: 0.744290590286 + x: 4.28861035573e-08 + y: -1.23675425456e-08 + z: -0.667855978012 + position: + x: 19.2247676849 + y: -25.3747005463 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint33 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint33_WayPoint32 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint32 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint33_WayPoint34 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint34 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint33 + pose: + orientation: + w: 0.759633719921 + x: 3.92711250186e-08 + y: 1.61292423861e-09 + z: -0.650351345539 + position: + x: 19.6654987335 + y: -28.3199005127 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint34 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint34_WayPoint33 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint33 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint34_WayPoint35 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint35 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint34 + pose: + orientation: + w: 0.761225819588 + x: 4.03902156165e-08 + y: -3.54150309079e-09 + z: -0.64848703146 + position: + x: 20.1053390503 + y: -31.1701602936 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint35 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint35_WayPoint34 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint34 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint35_WayPoint36 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint36 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint35 + pose: + orientation: + w: 0.75445497036 + x: 3.3400866073e-08 + y: -2.34413910505e-09 + z: -0.656351804733 + position: + x: 20.4815063477 + y: -33.8030395508 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint36 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint36_WayPoint27 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint27 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint36_WayPoint35 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint35 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint36_WayPoint45 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint45 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint36 + pose: + orientation: + w: 0.660470962524 + x: -3.37972601017e-08 + y: 1.06680209111e-09 + z: 0.750851750374 + position: + x: 20.983417511 + y: -37.1525306702 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint37 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint37_WayPoint38 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint38 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint37_WayPoint58 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint58 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint37 + pose: + orientation: + w: 0.760770618916 + x: 4.76921513837e-07 + y: -9.681240698e-08 + z: -0.649020969868 + position: + x: 18.7656650543 + y: -13.254863739 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint38 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint38_WayPoint37 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint37 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint38_WayPoint39 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint39 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint38 + pose: + orientation: + w: -0.747867941856 + x: 1.8901231158e-07 + y: 1.22750620335e-07 + z: 0.66384768486 + position: + x: 19.1997928619 + y: -16.2127552032 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint39 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint39_WayPoint38 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint38 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint39_WayPoint40 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint40 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint39 + pose: + orientation: + w: 0.75767737627 + x: 1.45557024211e-07 + y: 7.57933165119e-08 + z: -0.652629375458 + position: + x: 19.6214809418 + y: -19.1843318939 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint4 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint4_WayPoint3 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint3 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint4_WayPoint5 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint5 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint4 + pose: + orientation: + w: 0.745111525059 + x: -2.36921209762e-07 + y: -2.45530685561e-07 + z: -0.666939973831 + position: + x: 15.2427396774 + y: -25.940404892 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint40 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint40_WayPoint39 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint39 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint40_WayPoint41 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint41 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint40 + pose: + orientation: + w: 0.733345389366 + x: 5.56896793569e-07 + y: 3.58676402357e-07 + z: -0.679856419563 + position: + x: 20.052362442 + y: -22.1609916687 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint41 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint41_WayPoint40 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint40 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint41_WayPoint42 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint42 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint41 + pose: + orientation: + w: -0.737872421741 + x: 4.04196214276e-07 + y: 3.04125194361e-07 + z: 0.674940168858 + position: + x: 20.4886703491 + y: -25.1581363678 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint42 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint42_WayPoint41 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint41 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint42_WayPoint43 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint43 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint42 + pose: + orientation: + w: -0.74479830265 + x: 8.86778792619e-08 + y: 9.9785893326e-08 + z: 0.667289733887 + position: + x: 20.9311275482 + y: -28.109172821 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint43 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint43_WayPoint42 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint42 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint43_WayPoint44 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint44 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint43 + pose: + orientation: + w: -0.758968353271 + x: 2.28786618095e-07 + y: 1.17930717636e-07 + z: 0.651127696037 + position: + x: 21.3216896057 + y: -30.972410202 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint44 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint44_WayPoint43 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint43 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint44_WayPoint45 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint45 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint44 + pose: + orientation: + w: 0.756308734417 + x: 1.96667059527e-07 + y: 1.04547417834e-07 + z: -0.654214978218 + position: + x: 21.7401695251 + y: -33.6231002808 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint45 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint45_WayPoint36 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint36 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint45_WayPoint44 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint44 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint45_WayPoint46 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint46 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint45 + pose: + orientation: + w: -0.650379419327 + x: -8.79901023154e-08 + y: 1.36653326877e-07 + z: -0.759609639645 + position: + x: 22.2573471069 + y: -36.9367103577 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint46 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint46_WayPoint45 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint45 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint46_WayPoint47 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint47 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint46 + pose: + orientation: + w: -0.646973609924 + x: -7.66534640206e-07 + y: 9.52039556523e-07 + z: -0.762512385845 + position: + x: 23.6077537537 + y: -36.7280921936 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint47 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint47_WayPoint46 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint46 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint47_WayPoint48 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint48 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint47 + pose: + orientation: + w: -0.753495275974 + x: 9.99871474505e-09 + y: 3.23444133699e-08 + z: 0.657453298569 + position: + x: 23.0551891327 + y: -33.4397926331 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint48 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint48_WayPoint47 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint47 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint48_WayPoint49 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint49 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint48 + pose: + orientation: + w: -0.750405669212 + x: 3.44052608625e-09 + y: 3.50145619166e-08 + z: 0.660977721214 + position: + x: 22.6596088409 + y: -30.7412414551 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint49 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint49_WayPoint48 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint48 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint49_WayPoint50 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint50 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint49 + pose: + orientation: + w: -0.755117595196 + x: 1.90895761421e-08 + y: 5.4222308421e-08 + z: 0.655589520931 + position: + x: 22.2333202362 + y: -27.8941745758 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint5 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint5_WayPoint1 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint1 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint5_WayPoint4 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint4 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint5 + pose: + orientation: + w: -0.750569403172 + x: 1.02783941358e-08 + y: 2.22963940644e-08 + z: 0.660791754723 + position: + x: 14.7994356155 + y: -23.0174274445 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint50 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint50_WayPoint49 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint49 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint50_WayPoint51 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint51 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint50 + pose: + orientation: + w: 0.752629756927 + x: 7.05089036046e-08 + y: 2.94948314661e-08 + z: -0.658444046974 + position: + x: 21.8217086792 + y: -24.9503097534 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint51 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint51_WayPoint50 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint50 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint51_WayPoint52 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint52 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint51 + pose: + orientation: + w: 0.758140027523 + x: -2.97910730751e-07 + y: -3.3029132851e-07 + z: -0.652091860771 + position: + x: 21.3675746918 + y: -21.9733028412 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint52 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint52_WayPoint51 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint51 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint52_WayPoint53 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint53 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint52 + pose: + orientation: + w: 0.760773837566 + x: -1.1484667084e-06 + y: -1.19175297186e-06 + z: -0.64901727438 + position: + x: 20.933008194 + y: -18.9803352356 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint53 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint53_WayPoint52 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint52 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint53_WayPoint54 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint54 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint53 + pose: + orientation: + w: 0.75056540966 + x: 7.72553619299e-07 + y: 7.65767765643e-07 + z: -0.660796284676 + position: + x: 20.4762229919 + y: -16.0013618469 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint54 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint54_WayPoint53 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint53 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint54_WayPoint57 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint57 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint54 + pose: + orientation: + w: -0.749868452549 + x: 1.19931087283e-07 + y: 1.23244419115e-07 + z: 0.661587178707 + position: + x: 20.0397663116 + y: -13.0631952286 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint56 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint142 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint142 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint58 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint58 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint59 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint59 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint60 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint60 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint63 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint63 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint64 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint64 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint56_WayPoint66 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint66 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint56 + pose: + orientation: + w: 0.733938753605 + x: 4.25896224954e-08 + y: 5.69508218362e-10 + z: -0.679215729237 + position: + x: 15.3362770081 + y: -7.2246799469 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.504145145416 + y: -1.52811074257 + - x: 1.00579595566 + y: -1.26752996445 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint57 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint57_WayPoint54 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint54 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint57_WayPoint66 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint66 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint57 + pose: + orientation: + w: -0.758498549461 + x: -2.77654436331e-07 + y: -9.74107905449e-08 + z: 0.651674687862 + position: + x: 19.5043621063 + y: -9.50643348694 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint58 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint58_WayPoint37 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint37 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint58_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint58_WayPoint66 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint66 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint58 + pose: + orientation: + w: -0.766680061817 + x: -3.08152330319e-08 + y: 1.24919683486e-08 + z: 0.642029523849 + position: + x: 18.2139797211 + y: -9.7204284668 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint59 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint59_WayPoint28 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint28 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint59_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint59 + pose: + orientation: + w: 0.768043756485 + x: 6.18722140189e-08 + y: 1.34179698463e-08 + z: -0.640397369862 + position: + x: 16.8869781494 + y: -9.95151329041 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953332663 + y: 0.725811600685 +- meta: + map: riseholme + node: WayPoint6 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint6_WayPoint2 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint2 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint6_WayPoint65 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint65 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint6 + pose: + orientation: + w: 0.748533427715 + x: 1.35247347544e-07 + y: 4.37676348497e-08 + z: -0.663097083569 + position: + x: 13.4475975037 + y: -14.0054807663 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint60 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint60_WayPoint19 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint19 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint60_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint60 + pose: + orientation: + w: -0.753466963768 + x: 2.69224500471e-07 + y: 2.91210966452e-07 + z: 0.6574857831 + position: + x: 15.5772695541 + y: -10.1494503021 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint63 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint63_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint63_WayPoint64 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint64 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint63_WayPoint65 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint65 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint63 + pose: + orientation: + w: 0.755355834961 + x: 4.35458993309e-08 + y: 7.15290715547e-09 + z: -0.655314862728 + position: + x: 12.4204454422 + y: -7.72864294052 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.426953971386 + y: -1.58275640011 + - x: 0.954951286316 + y: -1.36671674252 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint64 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint64_WayPoint18 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint18 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint64_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint64_WayPoint63 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint63 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint64 + pose: + orientation: + w: -0.766813278198 + x: -3.46000845752e-08 + y: 5.1077040375e-09 + z: 0.641870200634 + position: + x: 14.2701396942 + y: -10.3443899155 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389275670052 + y: 0.637912333012 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint65 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint65_WayPoint6 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint6 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint65_WayPoint63 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint63 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint65 + pose: + orientation: + w: 0.763207256794 + x: 3.91473200523e-08 + y: 4.43481207313e-09 + z: -0.646153748035 + position: + x: 12.9625415802 + y: -10.5521936417 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint66 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint66_WayPoint142 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint142 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint66_WayPoint56 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint56 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint66_WayPoint57 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint57 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint66_WayPoint58 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint58 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint66_WayPoint74 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint74 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint66 + pose: + orientation: + w: 0.714133560658 + x: 4.29830961934e-08 + y: -7.45608352837e-10 + z: -0.700009465218 + position: + x: 18.2440853119 + y: -6.72151565552 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.65414917469 + y: -1.57640635967 + - x: 0.991357862949 + y: -1.31524348259 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint67 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint67_WayPoint131 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint131 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint67_WayPoint132 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint132 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint67_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint67_WayPoint143 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint143 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint67 + pose: + orientation: + w: 0.703146159649 + x: 3.96817263493e-08 + y: 1.01204367109e-09 + z: -0.711045384407 + position: + x: 26.2929611206 + y: -5.31065368652 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.639109969139 + y: -1.66431057453 + - x: 0.955555677414 + y: -1.47564923763 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint68 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint68_WayPoint69 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint69 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint68_WayPoint143 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint143 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint68 + pose: + orientation: + w: 0.63950252533 + x: 4.89044857943e-08 + y: 1.25052113109e-09 + z: -0.768789052963 + position: + x: 26.85000000000001 + y: 2.0999999999999943 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.268447875977 + y: 0.700840473175 + - x: -1.01734352112 + y: 0.270284175873 + - x: -1.08588027954 + y: -0.547501802444 + - x: -0.496746063232 + y: -1.16582393646 + - x: 0.359563827515 + y: -1.04076695442 + - x: 0.839046478271 + y: -0.112289190292 + - x: 0.823705673218 + y: 0.478964328766 + - x: 0.357343673706 + y: 0.908497810364 +- meta: + map: riseholme + node: WayPoint69 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint69_WayPoint68 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint68 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint69_WayPoint70 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint70 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint69_WayPoint71 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint71 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint69_WayPoint72 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint72 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint69 + pose: + orientation: + w: 0.996793866158 + x: 2.63322501581e-08 + y: 2.50285818737e-08 + z: 0.0800142586231 + position: + x: 21.0161151886 + y: 1.96138978004 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint7 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint7_WayPoint3 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint3 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint7_WayPoint8 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint8 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint7 + pose: + orientation: + w: -0.747540175915 + x: 3.91844352521e-08 + y: 2.94576274484e-08 + z: 0.664216637611 + position: + x: 16.1164512634 + y: -31.7679615021 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint70 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint70_WayPoint69 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint69 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: dock + action_type: dock_msgs/DockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint70_dock_2 + fail_policy: fail + goal: + target_pose: $node.pose + node: dock_2 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint70 + pose: + orientation: + w: 0.997125923634 + x: 2.34107897512e-08 + y: 2.37561650351e-08 + z: 0.0757618844509 + position: + x: 19.35000000000001 + y: -0.10000000000000853 + z: 0.0 + properties: + xy_goal_tolerance: 1.0 + yaw_goal_tolerance: 7.0 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint71 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint71_WayPoint69 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint69 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: dock + action_type: dock_msgs/DockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint71_dock_1 + fail_policy: fail + goal: + target_pose: $node.pose + node: dock_1 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint71 + pose: + orientation: + w: 0.997458457947 + x: 2.24339409272e-08 + y: 2.38853026246e-08 + z: 0.0712524056435 + position: + x: 19.05000000000001 + y: 1.5 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint72 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint72_WayPoint69 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint69 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: dock + action_type: dock_msgs/DockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint72_dock_0 + fail_policy: fail + goal: + target_pose: $node.pose + node: dock_0 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint72 + pose: + orientation: + w: 0.998138725758 + x: 2.41908040266e-08 + y: 2.44300188967e-08 + z: 0.0609846673906 + position: + x: 18.80000000000001 + y: 3.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint73 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint132 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint132 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint133 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint133 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint134 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint134 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint138 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint138 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint67 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint67 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint74 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint74 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint73_WayPoint141 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint141 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint73 + pose: + orientation: + w: 0.689354717731 + x: 3.98946262692e-08 + y: 6.31700081133e-10 + z: -0.724424004555 + position: + x: 23.6688137054 + y: -5.80918359756 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.567866265774 + y: -1.61818635464 + - x: 0.967507243156 + y: -1.30801534653 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint74 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint74_WayPoint138 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint138 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint74_WayPoint139 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint139 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint74_WayPoint66 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint66 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint74_WayPoint73 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint73 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint74_WayPoint140 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint140 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint74 + pose: + orientation: + w: 0.817395448685 + x: 4.03563333862e-08 + y: 5.90077875451e-10 + z: -0.576077103615 + position: + x: 21.1509933472 + y: -6.20381689072 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.725811064243 + y: 0.177953019738 + - x: -0.63791257143 + y: -0.389276951551 + - x: -0.567870855331 + y: -1.61818492413 + - x: 1.00797331333 + y: -1.34632718563 + - x: 0.725811064243 + y: -0.177953019738 + - x: 0.63791257143 + y: 0.389276951551 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint75 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint75_WayPoint76 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint76 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint75_WayPoint79 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint79 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint75 + pose: + orientation: + w: -0.76225066185 + x: 2.56953353528e-06 + y: 4.18883655584e-06 + z: 0.647282123566 + position: + x: 22.2966346741 + y: -18.7232398987 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint76 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint76_WayPoint75 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint75 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint76_WayPoint80 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint80 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint76 + pose: + orientation: + w: -0.755403757095 + x: 5.018292768e-07 + y: 1.95172759732e-07 + z: 0.655259847641 + position: + x: 21.8611755371 + y: -15.8217039108 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint77 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint77_WayPoint78 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint78 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint77_WayPoint81 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint81 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint77 + pose: + orientation: + w: 0.756908297539 + x: -1.33538463842e-07 + y: -1.57383340138e-07 + z: -0.653521299362 + position: + x: 23.6393795013 + y: -27.6856040955 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint78 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint78_WayPoint77 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint77 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint78_WayPoint79 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint79 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint78 + pose: + orientation: + w: 0.756856620312 + x: -2.42146768414e-07 + y: -2.41179463956e-07 + z: -0.653580844402 + position: + x: 23.1776161194 + y: -24.718006134 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint79 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint79_WayPoint75 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint75 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint79_WayPoint78 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint78 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint79 + pose: + orientation: + w: -0.758431792259 + x: 1.15706413339e-08 + y: 1.80772286029e-08 + z: 0.651752471924 + position: + x: 22.7416934967 + y: -21.7375602722 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint8 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint8_WayPoint7 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint7 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint8_WayPoint9 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint9 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint8 + pose: + orientation: + w: 0.747173249722 + x: 3.06283737928e-07 + y: 2.02192296683e-07 + z: -0.664629340172 + position: + x: 16.5046825409 + y: -34.4301071167 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint80 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint80_WayPoint139 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint139 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint80_WayPoint76 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint76 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint80 + pose: + orientation: + w: 0.746076047421 + x: 1.48972361558e-07 + y: 3.63538035231e-08 + z: -0.665860772133 + position: + x: 21.428106308 + y: -12.8271160126 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint81 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint81_WayPoint77 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint77 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint81_WayPoint82 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint82 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint81 + pose: + orientation: + w: -0.749916195869 + x: 3.32797114311e-08 + y: 4.26855457647e-08 + z: 0.66153305769 + position: + x: 24.0675735474 + y: -30.4977855682 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint82 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint82_WayPoint81 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint81 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint82_WayPoint83 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint83 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint82 + pose: + orientation: + w: 0.766641139984 + x: 3.10340681153e-07 + y: 1.88539232227e-07 + z: -0.642075777054 + position: + x: 24.4641227722 + y: -33.206451416 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint83 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint83_WayPoint82 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint82 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint83_WayPoint84 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint84 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint83 + pose: + orientation: + w: 0.646870851517 + x: -8.9119893687e-08 + y: 8.20008949631e-08 + z: 0.76259958744 + position: + x: 25.0089588165 + y: -36.4909439087 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint84 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint84_WayPoint83 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint83 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint84_WayPoint85 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint85 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint84_WayPoint101 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint101 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint84 + pose: + orientation: + w: 0.639492750168 + x: 2.43724571192e-07 + y: -5.41870576853e-06 + z: 0.768797159195 + position: + x: 26.295085907 + y: -36.2988815308 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint85 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint85_WayPoint84 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint84 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint85_WayPoint86 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint86 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint85 + pose: + orientation: + w: 0.758668422699 + x: -1.15179136628e-06 + y: -3.34765047683e-07 + z: -0.65147703886 + position: + x: 25.7775192261 + y: -32.9840545654 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint86 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint86_WayPoint85 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint85 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint86_WayPoint87 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint87 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint86 + pose: + orientation: + w: -0.761522054672 + x: 2.7573622674e-07 + y: 9.12233417694e-08 + z: 0.648139059544 + position: + x: 25.3805007935 + y: -30.3104667664 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint87 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint87_WayPoint86 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint86 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint87_WayPoint88 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint88 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint87 + pose: + orientation: + w: 0.758946359158 + x: 1.60816952643e-07 + y: 1.08203593641e-07 + z: -0.651153087616 + position: + x: 24.9639987946 + y: -27.4702072144 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint88 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint88_WayPoint87 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint87 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint88_WayPoint89 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint89 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint88 + pose: + orientation: + w: -0.759583890438 + x: 3.0699588649e-08 + y: 1.75466183805e-08 + z: 0.650409460068 + position: + x: 24.5318660736 + y: -24.496509552 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint89 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint89_WayPoint88 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint88 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint89_WayPoint90 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint90 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint89 + pose: + orientation: + w: 0.74958050251 + x: -1.3727105852e-07 + y: -4.90044484991e-08 + z: -0.661913275719 + position: + x: 24.0852127075 + y: -21.5296707153 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint9 + pointset: riseholme_rtk + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint9_WayPoint10 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint10 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint9_WayPoint8 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint8 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint9 + pose: + orientation: + w: 0.66473543644 + x: -9.02779362377e-08 + y: 8.19182659484e-08 + z: 0.747078835964 + position: + x: 16.9715023041 + y: -37.7694358826 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint90 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint90_WayPoint91 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint91 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint90_WayPoint89 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint89 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint90 + pose: + orientation: + w: -0.75585103035 + x: 1.71555115003e-07 + y: 6.11573369724e-08 + z: 0.654743671417 + position: + x: 23.6533107758 + y: -18.555480957 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint91 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint91_WayPoint92 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint92 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint91_WayPoint90 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint90 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint91 + pose: + orientation: + w: -0.76298815012 + x: 2.54100655184e-06 + y: 1.16885200896e-06 + z: 0.646412551403 + position: + x: 23.2309150696 + y: -15.6113872528 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint92 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint92_WayPoint138 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint138 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint92_WayPoint91 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint91 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint92 + pose: + orientation: + w: -0.753127455711 + x: 3.45660282619e-08 + y: 3.70169672692e-08 + z: 0.657874584198 + position: + x: 22.7789821625 + y: -12.6246795654 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint93 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint93_WayPoint94 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint94 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint93_WayPoint134 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint134 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint93 + pose: + orientation: + w: -0.751326203346 + x: -4.70069210223e-07 + y: -2.39704121441e-07 + z: 0.659931004047 + position: + x: 24.0786705017 + y: -12.4477558136 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint94 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint94_WayPoint95 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint95 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint94_WayPoint93 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint93 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint94 + pose: + orientation: + w: -0.756206274033 + x: 2.4558320888e-07 + y: 2.47099450235e-07 + z: 0.654333591461 + position: + x: 24.5166797638 + y: -15.4151773453 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint95 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint95_WayPoint96 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint96 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint95_WayPoint94 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint94 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint95 + pose: + orientation: + w: 0.764516592026 + x: 1.56514590799e-06 + y: 9.75240823209e-07 + z: -0.644604146481 + position: + x: 24.9537448883 + y: -18.368391037 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint96 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint96_WayPoint97 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint97 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint96_WayPoint95 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint95 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint96 + pose: + orientation: + w: -0.756688117981 + x: 6.81863951968e-08 + y: 5.02004127156e-08 + z: 0.653776109219 + position: + x: 25.3827610016 + y: -21.3341007233 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint97 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint97_WayPoint98 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint98 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint97_WayPoint96 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint96 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint97 + pose: + orientation: + w: -0.755107164383 + x: 3.98042658389e-07 + y: 3.19814205341e-07 + z: 0.65560144186 + position: + x: 25.829240799 + y: -24.3370780945 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint98 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint98_WayPoint99 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint99 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint98_WayPoint97 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint97 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint98 + pose: + orientation: + w: -0.754464924335 + x: 5.43123945818e-08 + y: 6.83713707872e-08 + z: 0.656340360641 + position: + x: 26.2735557556 + y: -27.3029632568 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: WayPoint99 + pointset: riseholme_rtk + node: + edges: + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint99_WayPoint100 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint100 + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: row_traversal + action_type: row_traversal_msgs/RowTraversalGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: WayPoint99_WayPoint98 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint98 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: WayPoint99 + pose: + orientation: + w: -0.755665242672 + x: -4.64581750848e-09 + y: 2.69157247601e-08 + z: 0.654958128929 + position: + x: 26.6638889313 + y: -30.1287994385 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + verts: + - x: -0.389276951551 + y: 0.63791257143 + - x: -0.528169989586 + y: 0.208579674363 + - x: -0.44027146697 + y: -0.358650296926 + - x: -0.177953019738 + y: -0.725811064243 + - x: 0.389276951551 + y: -0.63791257143 + - x: 0.528169989586 + y: -0.208579674363 + - x: 0.44027146697 + y: 0.358650296926 + - x: 0.177953019738 + y: 0.725811064243 +- meta: + map: riseholme + node: dock_0 + pointset: riseholme_rtk + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: dock_0_WayPoint72 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint72 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: dock_0 + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 16.650000000000006 + y: 2.6499999999999915 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + 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 +- meta: + map: riseholme + node: dock_1 + pointset: riseholme_rtk + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: dock_1_WayPoint71 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint71 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: dock_1 + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 16.85000000000001 + y: 1.1999999999999886 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + 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 +- meta: + map: riseholme + node: dock_2 + pointset: riseholme_rtk + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: dock_2_WayPoint70 + fail_policy: fail + goal: + target_pose: $node.pose + node: WayPoint70 + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: dock_2 + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 17.10000000000001 + y: -0.45000000000000284 + z: 1.65918641401e-05 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions: + robot_type: '' + 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 +pointset: riseholme_rtk +transformation: + child: topo_map + parent: map + rotation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + translation: + x: 0.0 + y: 0.0 + z: 0.0 diff --git a/topological_navigation/maps/test.tmap2 b/topological_navigation/maps/test.tmap2 new file mode 100644 index 00000000..f7021c5f --- /dev/null +++ b/topological_navigation/maps/test.tmap2 @@ -0,0 +1,298 @@ +meta: + last_updated: 2021-02-13_15-37-01 +metric_map: map_2d +name: new_map +nodes: +- meta: + map: map_2d + node: A + pointset: new_map + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: A_B + fail_policy: fail + goal: + target_pose: $node.pose + node: B + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: A + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 1.0 + y: 0.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: 0.692909649383465 + y: 0.2870125742738173 + - x: 0.2870125742738174 + y: 0.692909649383465 + - x: -0.2870125742738173 + y: 0.692909649383465 + - x: -0.692909649383465 + y: 0.28701257427381743 + - x: -0.6929096493834651 + y: -0.28701257427381727 + - x: -0.28701257427381777 + y: -0.6929096493834649 + - x: 0.2870125742738169 + y: -0.6929096493834652 + - x: 0.6929096493834649 + y: -0.28701257427381777 +- meta: + map: map_2d + node: B + pointset: new_map + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: B_A + fail_policy: fail + goal: + target_pose: $node.pose + node: A + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: B_C + fail_policy: fail + goal: + target_pose: $node.pose + node: C + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: B_D + fail_policy: fail + goal: + target_pose: $node.pose + node: D + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: B + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 2.0 + y: 0.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: 0.692909649383465 + y: 0.2870125742738173 + - x: 0.2870125742738174 + y: 0.692909649383465 + - x: -0.2870125742738173 + y: 0.692909649383465 + - x: -0.692909649383465 + y: 0.28701257427381743 + - x: -0.6929096493834651 + y: -0.28701257427381727 + - x: -0.28701257427381777 + y: -0.6929096493834649 + - x: 0.2870125742738169 + y: -0.6929096493834652 + - x: 0.6929096493834649 + y: -0.28701257427381777 +- meta: + map: map_2d + node: C + pointset: new_map + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: C_B + fail_policy: fail + goal: + target_pose: $node.pose + node: B + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: C_D + fail_policy: fail + goal: + target_pose: $node.pose + node: D + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: C + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 3.0 + y: 0.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: 0.692909649383465 + y: 0.2870125742738173 + - x: 0.2870125742738174 + y: 0.692909649383465 + - x: -0.2870125742738173 + y: 0.692909649383465 + - x: -0.692909649383465 + y: 0.28701257427381743 + - x: -0.6929096493834651 + y: -0.28701257427381727 + - x: -0.28701257427381777 + y: -0.6929096493834649 + - x: 0.2870125742738169 + y: -0.6929096493834652 + - x: 0.6929096493834649 + y: -0.28701257427381777 +- meta: + map: map_2d + node: D + pointset: new_map + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: D_B + fail_policy: fail + goal: + target_pose: $node.pose + node: B + restrictions: + robot_type: '' + task_name: '' + transition: '' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: + inflation_radius: 0.0 + recovery_behaviours_config: '' + top_vel: 0.55 + edge_id: D_C + fail_policy: fail + goal: + target_pose: $node.pose + node: C + restrictions: + robot_type: '' + task_name: '' + transition: '' + localise_by_topic: '' + name: D + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 3.0 + y: 1.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions: + robot_type: '' + verts: + - x: 0.692909649383465 + y: 0.2870125742738173 + - x: 0.2870125742738174 + y: 0.692909649383465 + - x: -0.2870125742738173 + y: 0.692909649383465 + - x: -0.692909649383465 + y: 0.28701257427381743 + - x: -0.6929096493834651 + y: -0.28701257427381727 + - x: -0.28701257427381777 + y: -0.6929096493834649 + - x: 0.2870125742738169 + y: -0.6929096493834652 + - x: 0.6929096493834649 + y: -0.28701257427381777 +pointset: new_map +transformation: + child: topo_map + parent: map + rotation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + translation: + x: 0.0 + y: 0.0 + z: 0.0 From b67a63032441296fe6cc25c174316d8ea8378683 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Tue, 29 Nov 2022 08:56:15 +0000 Subject: [PATCH 2/3] Delete riseholme.tmap2 --- topological_navigation/maps/riseholme.tmap2 | 10158 ------------------ 1 file changed, 10158 deletions(-) delete mode 100644 topological_navigation/maps/riseholme.tmap2 diff --git a/topological_navigation/maps/riseholme.tmap2 b/topological_navigation/maps/riseholme.tmap2 deleted file mode 100644 index 22975732..00000000 --- a/topological_navigation/maps/riseholme.tmap2 +++ /dev/null @@ -1,10158 +0,0 @@ -meta: - last_updated: 2021-02-14_16-34-32 -metric_map: riseholme -name: riseholme_rtk -nodes: -- meta: - map: riseholme - node: WayPoint1 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint1_WayPoint2 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint2 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint1_WayPoint5 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint5 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint1 - pose: - orientation: - w: -0.743730425835 - x: 2.45310548053e-06 - y: 4.24689324063e-06 - z: 0.668479681015 - position: - x: 14.3593025208 - y: -20.0007381439 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint10 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint10_WayPoint11 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint11 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint10_WayPoint27 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint27 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint10_WayPoint9 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint9 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint10 - pose: - orientation: - w: 0.656525313854 - x: 3.70586690224e-07 - y: -5.41462168258e-06 - z: 0.754303991795 - position: - x: 18.3387432098 - y: -37.5582046509 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint100 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint100_WayPoint101 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint101 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint100_WayPoint99 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint99 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint100 - pose: - orientation: - w: 0.759505271912 - x: 6.15078548094e-08 - y: 1.23771703997e-08 - z: -0.650501430035 - position: - x: 27.0758609772 - y: -32.8316116333 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint101 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint101_WayPoint100 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint100 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint101_WayPoint110 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint110 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint101_WayPoint84 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint84 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint101 - pose: - orientation: - w: -0.660229682922 - x: 2.97418800699e-08 - y: 8.14514589109e-09 - z: -0.751063764095 - position: - x: 27.5788059235 - y: -36.0844459534 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint102 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint102_WayPoint103 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint103 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint102_WayPoint133 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint133 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint102 - pose: - orientation: - w: 0.754510998726 - x: 4.59638300754e-08 - y: 4.60633131638e-09 - z: -0.656287431717 - position: - x: 25.3605175018 - y: -12.2501955032 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint103 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint103_WayPoint102 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint102 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint103_WayPoint104 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint104 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint103 - pose: - orientation: - w: 0.760897159576 - x: 4.53539108491e-08 - y: -3.90961796271e-09 - z: -0.648872554302 - position: - x: 25.8081817627 - y: -15.2022790909 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint104 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint104_WayPoint103 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint103 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint104_WayPoint105 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint105 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint104 - pose: - orientation: - w: 0.754369735718 - x: 4.83801656515e-08 - y: -1.00373531708e-09 - z: -0.656449735165 - position: - x: 26.2364063263 - y: -18.1461925507 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint105 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint105_WayPoint104 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint104 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint105_WayPoint106 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint106 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint105 - pose: - orientation: - w: 0.754276573658 - x: 3.7411375331e-08 - y: -8.04823985234e-11 - z: -0.656557023525 - position: - x: 26.6760425568 - y: -21.1543064117 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint106 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint106_WayPoint105 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint105 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint106_WayPoint107 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint107 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint106 - pose: - orientation: - w: 0.757887661457 - x: 4.53817108337e-08 - y: -3.4147391581e-09 - z: -0.652385056019 - position: - x: 27.1222896576 - y: -24.127363205 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint107 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint107_WayPoint106 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint106 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint107_WayPoint108 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint108 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint107 - pose: - orientation: - w: 0.759579896927 - x: 4.7181991647e-08 - y: -1.86219373255e-09 - z: -0.650413930416 - position: - x: 27.5532512665 - y: -27.1100406647 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint108 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint108_WayPoint107 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint107 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint108_WayPoint109 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint109 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint108 - pose: - orientation: - w: 0.754159092903 - x: 4.398137321e-08 - y: -3.13579184841e-09 - z: -0.656692028046 - position: - x: 27.9826469421 - y: -29.9455871582 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint109 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint109_WayPoint108 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint108 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint109_WayPoint110 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint110 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint109 - pose: - orientation: - w: 0.758888304234 - x: 4.68666101483e-08 - y: -5.11207409737e-10 - z: -0.651220977306 - position: - x: 28.4023971558 - y: -32.6037559509 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint11 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint11_WayPoint10 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint10 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint11_WayPoint12 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint12 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint11 - pose: - orientation: - w: 0.762576282024 - x: -1.15608440865e-06 - y: -3.21682421145e-07 - z: -0.646898329258 - position: - x: 17.8227806091 - y: -34.2429962158 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint110 - pointset: riseholme_rtk - node: - edges: - 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- x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint112 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint112_WayPoint111 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint111 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint112_WayPoint113 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint113 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint112 - pose: - orientation: - w: -0.757915914059 - x: 1.97452408202e-07 - y: 1.19776700558e-07 - z: 0.652352273464 - position: - x: 27.096988678 - y: -14.9588832855 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint113 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint113_WayPoint112 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint112 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - 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config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint114_WayPoint113 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint113 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint114_WayPoint115 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint115 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint114 - pose: - orientation: - w: 0.769605755806 - x: 5.73443514895e-07 - y: 3.26987958488e-07 - z: -0.638519406319 - position: - x: 27.9816970825 - y: -20.9165611267 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - 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localise_by_topic: '' - name: WayPoint115 - pose: - orientation: - w: -0.759834766388 - x: 4.19522024231e-07 - y: 3.00681620047e-07 - z: 0.650116205215 - position: - x: 28.4337234497 - y: -23.8927497864 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint116 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint116_WayPoint115 - fail_policy: fail - goal: - target_pose: $node.pose - 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y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint117 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint117_WayPoint116 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint116 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint117_WayPoint118 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint118 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint117 - pose: - orientation: - w: -0.756410479546 - x: 2.28002519975e-07 - y: 1.34897049975e-07 - z: 0.654097378254 - position: - x: 29.30610466 - y: -29.706653595 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint118 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint118_WayPoint117 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint117 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - 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config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint119_WayPoint110 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint110 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint119_WayPoint118 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint118 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint119_WayPoint120 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint120 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint119 - pose: - orientation: - w: -0.659576416016 - x: -8.70394032404e-08 - y: 1.42960075777e-07 - z: -0.751637518406 - position: - x: 30.214345932 - y: -35.6641731262 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint12 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint12_WayPoint11 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint11 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint12_WayPoint13 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint13 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint12 - pose: - orientation: - w: -0.753126144409 - x: 2.79063584685e-07 - y: 8.51532035995e-08 - z: 0.657876193523 - position: - x: 17.4226551056 - y: -31.5403862 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint120 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint120_WayPoint119 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint119 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint120_WayPoint121 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint121 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint120 - pose: - orientation: - w: -0.652000904083 - x: -7.73158717493e-07 - y: 9.40937525229e-07 - z: -0.758218169212 - position: - x: 31.5318813324 - y: -35.4803314209 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - 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node: WayPoint122 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint121 - pose: - orientation: - w: -0.756206989288 - x: 1.22671650615e-08 - y: 1.92243021502e-08 - z: 0.654332458973 - position: - x: 30.9943161011 - y: -32.1680183411 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint122 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint122_WayPoint121 - 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- x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint123 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint123_WayPoint122 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint122 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint123_WayPoint124 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint124 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint123 - pose: - orientation: - w: -0.756174385548 - x: 1.57045541016e-08 - y: 4.29234709998e-08 - z: 0.654370307922 - position: - x: 30.2024612427 - y: -26.6651992798 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint124 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint124_WayPoint123 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint123 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint124_WayPoint125 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint125 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint124 - pose: - orientation: - w: 0.754291713238 - x: 6.55458478604e-08 - y: 3.81275668815e-08 - z: -0.656539440155 - position: - x: 29.7399158478 - y: -23.6714191437 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint125 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint125_WayPoint124 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint124 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint125_WayPoint126 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint126 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint125 - pose: - orientation: - w: 0.754170238972 - x: -2.97634784374e-07 - y: -3.37541763429e-07 - z: -0.656679093838 - position: - x: 29.3026542664 - y: -20.6969528198 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint126 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint126_WayPoint125 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint125 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint126_WayPoint127 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint127 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint126 - pose: - orientation: - w: 0.7566203475 - x: -1.14938211482e-06 - y: -1.19235630791e-06 - z: -0.653854489326 - position: - x: 28.8726902008 - y: -17.7549953461 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint127 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint127_WayPoint126 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint126 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint127_WayPoint128 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint128 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint127 - pose: - orientation: - w: 0.745485901833 - x: 7.70066719724e-07 - y: 7.68246366079e-07 - z: -0.666521430016 - position: - x: 28.4344120026 - y: -14.7663555145 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint128 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint128_WayPoint127 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint127 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint128_WayPoint131 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint131 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint128 - pose: - orientation: - w: -0.741522192955 - x: 1.19206077898e-07 - y: 1.28474994199e-07 - z: 0.67092859745 - position: - x: 28.0014972687 - y: -11.838634491 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint13 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint13_WayPoint12 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint12 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint13_WayPoint14 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint14 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint13 - pose: - orientation: - w: 0.760125935078 - x: 1.61204440019e-07 - y: 1.03318086531e-07 - z: -0.649775743484 - position: - x: 17.0095767975 - y: -28.7013568878 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint131 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint131_WayPoint67 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint67 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint131_WayPoint128 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint128 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint131 - pose: - orientation: - w: -0.764781057835 - x: -2.75078946288e-07 - y: -8.78142856209e-08 - z: 0.644290268421 - position: - x: 27.4523868561 - y: -8.19784164429 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint132 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint132_WayPoint111 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint111 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint132_WayPoint67 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint67 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint132_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint132 - pose: - orientation: - w: -0.751528859138 - x: -4.10163387699e-08 - y: 3.98763999598e-09 - z: 0.659700214863 - position: - x: 26.1096096039 - y: -8.40456008911 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint133 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint133_WayPoint102 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint102 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint133_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint133 - pose: - orientation: - w: 0.762418210506 - x: 6.03614296324e-08 - y: 1.67755924707e-08 - z: -0.647084593773 - position: - x: 24.8682613373 - y: -8.61820888519 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint134 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint134_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint134_WayPoint93 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint93 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint134 - pose: - orientation: - w: -0.746649265289 - x: 2.66044480668e-07 - y: 2.95388673521e-07 - z: 0.665217936039 - position: - x: 23.5281543732 - y: -8.83518409729 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint138 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint138_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint138_WayPoint74 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint74 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint138_WayPoint92 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint92 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint138 - pose: - orientation: - w: -0.753588676453 - x: -3.64702366085e-08 - y: -1.68724412219e-09 - z: 0.657346248627 - position: - x: 22.2297763824 - y: -9.03001594543 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint139 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint139_WayPoint74 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint74 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint139_WayPoint80 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint80 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint139 - pose: - orientation: - w: 0.754034161568 - x: 3.90484373725e-08 - y: -3.42211092796e-10 - z: -0.656835198402 - position: - x: 20.9134960175 - y: -9.25094509125 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint14 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint14_WayPoint13 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint13 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint14_WayPoint15 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint15 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint14 - pose: - orientation: - w: -0.755561351776 - x: 2.96249673681e-08 - y: 2.22623288693e-08 - z: 0.655077934265 - position: - x: 16.5653171539 - y: -25.7429676056 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint140 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint140_WayPoint74 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint74 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint140_WayPoint141 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint141 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint140_WayPoint142 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint142 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint140 - pose: - orientation: - w: 0.789774894714 - x: 3.34536558455e-08 - y: -6.81063783148e-09 - z: -0.613396763802 - position: - x: 20.7508434296 - y: -4.37950954437 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint141 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint141_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint141_WayPoint140 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint140 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint141 - pose: - orientation: - w: 0.802970409393 - x: 3.57145779617e-08 - y: 1.33213340359e-09 - z: -0.596019089222 - position: - x: 23.3039474487 - y: -3.95409524918 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint142 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint142_WayPoint140 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint140 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint142_WayPoint66 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint66 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint142_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint142 - pose: - orientation: - w: 0.7798153162 - x: 3.76410937974e-08 - y: -6.30533980583e-09 - z: -0.626009762287 - position: - x: 17.9042915344 - y: -4.71533472061 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint143 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint143_WayPoint67 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint67 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint143_WayPoint68 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint68 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint143 - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 28.45 - y: -1.7 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint15 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint15_WayPoint14 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint14 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint15_WayPoint16 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint16 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint15 - pose: - orientation: - w: 0.752446889877 - x: -1.39554543921e-07 - y: -4.40514114075e-08 - z: -0.658653080463 - position: - x: 16.1214294434 - y: -22.7858409882 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint16 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint16_WayPoint15 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint15 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint16_WayPoint17 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint17 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint16 - pose: - orientation: - w: -0.759842395782 - x: 1.70122177678e-07 - y: 6.46598650178e-08 - z: 0.650107324123 - position: - x: 15.6782636642 - y: -19.7898082733 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint17 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint17_WayPoint16 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint16 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint17_WayPoint18 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint18 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint17 - pose: - orientation: - w: -0.760682404041 - x: 2.53844746112e-06 - y: 1.18708896935e-06 - z: 0.649124383926 - position: - x: 15.2257575989 - y: -16.8021087646 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint18 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint18_WayPoint17 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint17 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint18_WayPoint64 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint64 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint18 - pose: - orientation: - w: -0.759945333004 - x: 4.85560107677e-08 - y: 3.56774947363e-08 - z: 0.64998704195 - position: - x: 14.78764534 - y: -13.8147888184 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint19 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint19_WayPoint20 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint20 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint19_WayPoint60 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint60 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint19 - pose: - orientation: - w: -0.754075825214 - x: -4.58504075596e-07 - y: -2.4744986149e-07 - z: 0.656787395477 - position: - x: 16.1054954529 - y: -13.6399888992 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint2 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint2_WayPoint1 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint1 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint2_WayPoint6 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint6 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint2 - pose: - orientation: - w: -0.744469821453 - x: 4.96480822676e-07 - y: 2.02697833629e-07 - z: 0.667656064034 - position: - x: 13.8925037384 - y: -16.9936542511 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint20 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint20_WayPoint19 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint19 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint20_WayPoint21 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint21 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint20 - pose: - orientation: - w: -0.758058488369 - x: 2.51660793538e-07 - y: 2.48719430829e-07 - z: 0.652186632156 - position: - x: 16.5508289337 - y: -16.6063117981 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint21 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint21_WayPoint20 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint20 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint21_WayPoint22 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint22 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint21 - pose: - orientation: - w: 0.753698050976 - x: 1.54055476287e-06 - y: 9.91609567791e-07 - z: -0.657220840454 - position: - x: 16.993724823 - y: -19.6200008392 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint22 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint22_WayPoint21 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint21 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint22_WayPoint23 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint23 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint22 - pose: - orientation: - w: -0.751192986965 - x: 7.52898827727e-08 - y: 5.71430796015e-08 - z: 0.660082638264 - position: - x: 17.443315506 - y: -22.6079063416 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint23 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint23_WayPoint22 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint22 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint23_WayPoint24 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint24 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint23 - pose: - orientation: - w: -0.756403625011 - x: 3.92328416865e-07 - y: 3.10649170387e-07 - z: 0.654105186462 - position: - x: 17.8889732361 - y: -25.5759887695 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint24 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint24_WayPoint23 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint23 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint24_WayPoint25 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint25 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint24 - pose: - orientation: - w: -0.752208530903 - x: 6.09304535715e-08 - y: 6.76274467537e-08 - z: 0.658925116062 - position: - x: 18.3420028687 - y: -28.5196590424 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint25 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint25_WayPoint24 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint24 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint25_WayPoint26 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint26 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint25 - pose: - orientation: - w: -0.746312916279 - x: -6.4692611268e-09 - y: 2.87535808496e-08 - z: 0.66559523344 - position: - x: 18.7769870758 - y: -31.3710441589 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint26 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint26_WayPoint25 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint25 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint26_WayPoint27 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint27 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint26 - pose: - orientation: - w: 0.762100756168 - x: 6.36948556121e-08 - y: 1.16778009485e-08 - z: -0.647458553314 - position: - x: 19.1748714447 - y: -34.0763549805 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint27 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint27_WayPoint10 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint10 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint27_WayPoint26 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint26 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint27_WayPoint36 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint36 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint27 - pose: - orientation: - w: -0.647208213806 - x: 2.63867967476e-08 - y: -2.35936550297e-08 - z: -0.762313246727 - position: - x: 19.6571006775 - y: -37.3501281738 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint28 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint28_WayPoint29 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint29 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint28_WayPoint59 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint59 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint28 - pose: - orientation: - w: 0.760084211826 - x: 4.35769074159e-08 - y: -4.08923295225e-09 - z: -0.649824559689 - position: - x: 17.4244594574 - y: -13.4327507019 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint29 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint29_WayPoint28 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint28 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint29_WayPoint30 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint30 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint29 - pose: - orientation: - w: 0.751457095146 - x: 3.79818203555e-08 - y: -2.3583401898e-09 - z: -0.659781992435 - position: - x: 17.8708305359 - y: -16.3897857666 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint3 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint3_WayPoint4 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint4 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint3_WayPoint7 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint7 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint3 - pose: - orientation: - w: 0.749245047569 - x: -1.30127219222e-07 - y: -1.63945969689e-07 - z: -0.662292897701 - position: - x: 15.6815023422 - y: -28.8869838715 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint30 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint30_WayPoint29 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint29 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint30_WayPoint31 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint31 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint30 - pose: - orientation: - w: 0.75563710928 - x: 4.04210105387e-08 - y: -4.07218614384e-09 - z: -0.654990494251 - position: - x: 18.3346843719 - y: -19.4094963074 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint31 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - 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config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint37_WayPoint58 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint58 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint37 - pose: - orientation: - w: 0.760770618916 - x: 4.76921513837e-07 - y: -9.681240698e-08 - z: -0.649020969868 - position: - x: 18.7656650543 - y: -13.254863739 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint38 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint38_WayPoint37 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint37 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint38_WayPoint39 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint39 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint38 - pose: - orientation: - w: -0.747867941856 - x: 1.8901231158e-07 - y: 1.22750620335e-07 - z: 0.66384768486 - position: - x: 19.1997928619 - y: -16.2127552032 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint39 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint39_WayPoint38 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint38 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint39_WayPoint40 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint40 - 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- x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint40 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint40_WayPoint39 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint39 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint40_WayPoint41 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint41 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint40 - pose: - orientation: - w: 0.733345389366 - x: 5.56896793569e-07 - y: 3.58676402357e-07 - z: -0.679856419563 - position: - x: 20.052362442 - y: -22.1609916687 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint41 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint41_WayPoint40 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint40 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint41_WayPoint42 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint42 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint41 - pose: - orientation: - w: -0.737872421741 - x: 4.04196214276e-07 - y: 3.04125194361e-07 - z: 0.674940168858 - position: - x: 20.4886703491 - y: -25.1581363678 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint42 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint42_WayPoint41 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint41 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint42_WayPoint43 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint43 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint42 - pose: - orientation: - w: -0.74479830265 - x: 8.86778792619e-08 - y: 9.9785893326e-08 - z: 0.667289733887 - position: - x: 20.9311275482 - y: -28.109172821 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint43 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint43_WayPoint42 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint42 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint43_WayPoint44 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint44 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint43 - pose: - orientation: - w: -0.758968353271 - x: 2.28786618095e-07 - y: 1.17930717636e-07 - z: 0.651127696037 - position: - x: 21.3216896057 - y: -30.972410202 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint44 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint44_WayPoint43 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint43 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint44_WayPoint45 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint45 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint44 - pose: - orientation: - w: 0.756308734417 - x: 1.96667059527e-07 - y: 1.04547417834e-07 - z: -0.654214978218 - position: - x: 21.7401695251 - y: -33.6231002808 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint45 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint45_WayPoint36 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint36 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint45_WayPoint44 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint44 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint45_WayPoint46 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint46 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint45 - pose: - orientation: - w: -0.650379419327 - x: -8.79901023154e-08 - y: 1.36653326877e-07 - z: -0.759609639645 - position: - x: 22.2573471069 - y: -36.9367103577 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint46 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint46_WayPoint45 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint45 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint46_WayPoint47 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint47 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint46 - pose: - orientation: - w: -0.646973609924 - x: -7.66534640206e-07 - y: 9.52039556523e-07 - z: -0.762512385845 - position: - x: 23.6077537537 - y: -36.7280921936 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint47 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint47_WayPoint46 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint46 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint47_WayPoint48 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint48 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint47 - pose: - orientation: - w: -0.753495275974 - x: 9.99871474505e-09 - y: 3.23444133699e-08 - z: 0.657453298569 - position: - x: 23.0551891327 - y: -33.4397926331 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint48 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint48_WayPoint47 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint47 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint48_WayPoint49 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint49 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint48 - pose: - orientation: - w: -0.750405669212 - x: 3.44052608625e-09 - y: 3.50145619166e-08 - z: 0.660977721214 - position: - x: 22.6596088409 - y: -30.7412414551 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint49 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint49_WayPoint48 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint48 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint49_WayPoint50 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint50 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint49 - pose: - orientation: - w: -0.755117595196 - x: 1.90895761421e-08 - y: 5.4222308421e-08 - z: 0.655589520931 - position: - x: 22.2333202362 - y: -27.8941745758 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint5 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint5_WayPoint1 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint1 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint5_WayPoint4 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint4 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint5 - pose: - orientation: - w: -0.750569403172 - x: 1.02783941358e-08 - y: 2.22963940644e-08 - z: 0.660791754723 - position: - x: 14.7994356155 - y: -23.0174274445 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint50 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint50_WayPoint49 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint49 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint50_WayPoint51 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint51 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint50 - pose: - orientation: - w: 0.752629756927 - x: 7.05089036046e-08 - y: 2.94948314661e-08 - z: -0.658444046974 - position: - x: 21.8217086792 - y: -24.9503097534 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint51 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint51_WayPoint50 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint50 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint51_WayPoint52 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint52 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint51 - pose: - orientation: - w: 0.758140027523 - x: -2.97910730751e-07 - y: -3.3029132851e-07 - z: -0.652091860771 - position: - x: 21.3675746918 - y: -21.9733028412 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint52 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint52_WayPoint51 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint51 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint52_WayPoint53 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint53 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint52 - pose: - orientation: - w: 0.760773837566 - x: -1.1484667084e-06 - y: -1.19175297186e-06 - z: -0.64901727438 - position: - x: 20.933008194 - y: -18.9803352356 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint53 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint53_WayPoint52 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint52 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint53_WayPoint54 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint54 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint53 - pose: - orientation: - w: 0.75056540966 - x: 7.72553619299e-07 - y: 7.65767765643e-07 - z: -0.660796284676 - position: - x: 20.4762229919 - y: -16.0013618469 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint54 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint54_WayPoint53 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint53 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint54_WayPoint57 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint57 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint54 - pose: - orientation: - w: -0.749868452549 - x: 1.19931087283e-07 - y: 1.23244419115e-07 - z: 0.661587178707 - position: - x: 20.0397663116 - y: -13.0631952286 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint56 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint142 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint142 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint58 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint58 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint59 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint59 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint60 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint60 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint63 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint63 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint64 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint64 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint56_WayPoint66 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint66 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint56 - pose: - orientation: - w: 0.733938753605 - x: 4.25896224954e-08 - y: 5.69508218362e-10 - z: -0.679215729237 - position: - x: 15.3362770081 - y: -7.2246799469 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.504145145416 - y: -1.52811074257 - - x: 1.00579595566 - y: -1.26752996445 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint57 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint57_WayPoint54 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint54 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint57_WayPoint66 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint66 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint57 - pose: - orientation: - w: -0.758498549461 - x: -2.77654436331e-07 - y: -9.74107905449e-08 - z: 0.651674687862 - position: - x: 19.5043621063 - y: -9.50643348694 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint58 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint58_WayPoint37 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint37 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint58_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint58_WayPoint66 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint66 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint58 - pose: - orientation: - w: -0.766680061817 - x: -3.08152330319e-08 - y: 1.24919683486e-08 - z: 0.642029523849 - position: - x: 18.2139797211 - y: -9.7204284668 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint59 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint59_WayPoint28 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint28 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint59_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint59 - pose: - orientation: - w: 0.768043756485 - x: 6.18722140189e-08 - y: 1.34179698463e-08 - z: -0.640397369862 - position: - x: 16.8869781494 - y: -9.95151329041 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953332663 - y: 0.725811600685 -- meta: - map: riseholme - node: WayPoint6 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint6_WayPoint2 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint2 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint6_WayPoint65 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint65 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint6 - pose: - orientation: - w: 0.748533427715 - x: 1.35247347544e-07 - y: 4.37676348497e-08 - z: -0.663097083569 - position: - x: 13.4475975037 - y: -14.0054807663 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint60 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint60_WayPoint19 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint19 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint60_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint60 - pose: - orientation: - w: -0.753466963768 - x: 2.69224500471e-07 - y: 2.91210966452e-07 - z: 0.6574857831 - position: - x: 15.5772695541 - y: -10.1494503021 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint63 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint63_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint63_WayPoint64 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint64 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint63_WayPoint65 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint65 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint63 - pose: - orientation: - w: 0.755355834961 - x: 4.35458993309e-08 - y: 7.15290715547e-09 - z: -0.655314862728 - position: - x: 12.4204454422 - y: -7.72864294052 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.426953971386 - y: -1.58275640011 - - x: 0.954951286316 - y: -1.36671674252 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint64 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint64_WayPoint18 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint18 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint64_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint64_WayPoint63 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint63 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint64 - pose: - orientation: - w: -0.766813278198 - x: -3.46000845752e-08 - y: 5.1077040375e-09 - z: 0.641870200634 - position: - x: 14.2701396942 - y: -10.3443899155 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389275670052 - y: 0.637912333012 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint65 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint65_WayPoint6 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint6 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint65_WayPoint63 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint63 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint65 - pose: - orientation: - w: 0.763207256794 - x: 3.91473200523e-08 - y: 4.43481207313e-09 - z: -0.646153748035 - position: - x: 12.9625415802 - y: -10.5521936417 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint66 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint66_WayPoint142 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint142 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint66_WayPoint56 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint56 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint66_WayPoint57 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint57 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint66_WayPoint58 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint58 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint66_WayPoint74 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint74 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint66 - pose: - orientation: - w: 0.714133560658 - x: 4.29830961934e-08 - y: -7.45608352837e-10 - z: -0.700009465218 - position: - x: 18.2440853119 - y: -6.72151565552 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.65414917469 - y: -1.57640635967 - - x: 0.991357862949 - y: -1.31524348259 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint67 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint67_WayPoint131 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint131 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint67_WayPoint132 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint132 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint67_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint67_WayPoint143 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint143 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint67 - pose: - orientation: - w: 0.703146159649 - x: 3.96817263493e-08 - y: 1.01204367109e-09 - z: -0.711045384407 - position: - x: 26.2929611206 - y: -5.31065368652 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.639109969139 - y: -1.66431057453 - - x: 0.955555677414 - y: -1.47564923763 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint68 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint68_WayPoint69 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint69 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint68_WayPoint143 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint143 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint68 - pose: - orientation: - w: 0.63950252533 - x: 4.89044857943e-08 - y: 1.25052113109e-09 - z: -0.768789052963 - position: - x: 26.85000000000001 - y: 2.0999999999999943 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.268447875977 - y: 0.700840473175 - - x: -1.01734352112 - y: 0.270284175873 - - x: -1.08588027954 - y: -0.547501802444 - - x: -0.496746063232 - y: -1.16582393646 - - x: 0.359563827515 - y: -1.04076695442 - - x: 0.839046478271 - y: -0.112289190292 - - x: 0.823705673218 - y: 0.478964328766 - - x: 0.357343673706 - y: 0.908497810364 -- meta: - map: riseholme - node: WayPoint69 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint69_WayPoint68 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint68 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint69_WayPoint70 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint70 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint69_WayPoint71 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint71 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint69_WayPoint72 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint72 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint69 - pose: - orientation: - w: 0.996793866158 - x: 2.63322501581e-08 - y: 2.50285818737e-08 - z: 0.0800142586231 - position: - x: 21.0161151886 - y: 1.96138978004 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint7 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint7_WayPoint3 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint3 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint7_WayPoint8 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint8 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint7 - pose: - orientation: - w: -0.747540175915 - x: 3.91844352521e-08 - y: 2.94576274484e-08 - z: 0.664216637611 - position: - x: 16.1164512634 - y: -31.7679615021 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint70 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint70_WayPoint69 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint69 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: dock - action_type: dock_msgs/DockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint70_dock_2 - fail_policy: fail - goal: - target_pose: $node.pose - node: dock_2 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint70 - pose: - orientation: - w: 0.997125923634 - x: 2.34107897512e-08 - y: 2.37561650351e-08 - z: 0.0757618844509 - position: - x: 19.35000000000001 - y: -0.10000000000000853 - z: 0.0 - properties: - xy_goal_tolerance: 1.0 - yaw_goal_tolerance: 7.0 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint71 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint71_WayPoint69 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint69 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: dock - action_type: dock_msgs/DockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint71_dock_1 - fail_policy: fail - goal: - target_pose: $node.pose - node: dock_1 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint71 - pose: - orientation: - w: 0.997458457947 - x: 2.24339409272e-08 - y: 2.38853026246e-08 - z: 0.0712524056435 - position: - x: 19.05000000000001 - y: 1.5 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint72 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint72_WayPoint69 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint69 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: dock - action_type: dock_msgs/DockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint72_dock_0 - fail_policy: fail - goal: - target_pose: $node.pose - node: dock_0 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint72 - pose: - orientation: - w: 0.998138725758 - x: 2.41908040266e-08 - y: 2.44300188967e-08 - z: 0.0609846673906 - position: - x: 18.80000000000001 - y: 3.0 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint73 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint132 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint132 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint133 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint133 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint134 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint134 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint138 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint138 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint67 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint67 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint74 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint74 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint73_WayPoint141 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint141 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint73 - pose: - orientation: - w: 0.689354717731 - x: 3.98946262692e-08 - y: 6.31700081133e-10 - z: -0.724424004555 - position: - x: 23.6688137054 - y: -5.80918359756 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.567866265774 - y: -1.61818635464 - - x: 0.967507243156 - y: -1.30801534653 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint74 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint74_WayPoint138 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint138 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint74_WayPoint139 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint139 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint74_WayPoint66 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint66 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint74_WayPoint73 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint73 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint74_WayPoint140 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint140 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint74 - pose: - orientation: - w: 0.817395448685 - x: 4.03563333862e-08 - y: 5.90077875451e-10 - z: -0.576077103615 - position: - x: 21.1509933472 - y: -6.20381689072 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.725811064243 - y: 0.177953019738 - - x: -0.63791257143 - y: -0.389276951551 - - x: -0.567870855331 - y: -1.61818492413 - - x: 1.00797331333 - y: -1.34632718563 - - x: 0.725811064243 - y: -0.177953019738 - - x: 0.63791257143 - y: 0.389276951551 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint75 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint75_WayPoint76 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint76 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint75_WayPoint79 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint79 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint75 - pose: - orientation: - w: -0.76225066185 - x: 2.56953353528e-06 - y: 4.18883655584e-06 - z: 0.647282123566 - position: - x: 22.2966346741 - y: -18.7232398987 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint76 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint76_WayPoint75 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint75 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint76_WayPoint80 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint80 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint76 - pose: - orientation: - w: -0.755403757095 - x: 5.018292768e-07 - y: 1.95172759732e-07 - z: 0.655259847641 - position: - x: 21.8611755371 - y: -15.8217039108 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint77 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint77_WayPoint78 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint78 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint77_WayPoint81 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint81 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint77 - pose: - orientation: - w: 0.756908297539 - x: -1.33538463842e-07 - y: -1.57383340138e-07 - z: -0.653521299362 - position: - x: 23.6393795013 - y: -27.6856040955 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint78 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint78_WayPoint77 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint77 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint78_WayPoint79 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint79 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint78 - pose: - orientation: - w: 0.756856620312 - x: -2.42146768414e-07 - y: -2.41179463956e-07 - z: -0.653580844402 - position: - x: 23.1776161194 - y: -24.718006134 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint79 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint79_WayPoint75 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint75 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint79_WayPoint78 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint78 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint79 - pose: - orientation: - w: -0.758431792259 - x: 1.15706413339e-08 - y: 1.80772286029e-08 - z: 0.651752471924 - position: - x: 22.7416934967 - y: -21.7375602722 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint8 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint8_WayPoint7 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint7 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint8_WayPoint9 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint9 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint8 - pose: - orientation: - w: 0.747173249722 - x: 3.06283737928e-07 - y: 2.02192296683e-07 - z: -0.664629340172 - position: - x: 16.5046825409 - y: -34.4301071167 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint80 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint80_WayPoint139 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint139 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint80_WayPoint76 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint76 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint80 - pose: - orientation: - w: 0.746076047421 - x: 1.48972361558e-07 - y: 3.63538035231e-08 - z: -0.665860772133 - position: - x: 21.428106308 - y: -12.8271160126 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint81 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint81_WayPoint77 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint77 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint81_WayPoint82 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint82 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint81 - pose: - orientation: - w: -0.749916195869 - x: 3.32797114311e-08 - y: 4.26855457647e-08 - z: 0.66153305769 - position: - x: 24.0675735474 - y: -30.4977855682 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint82 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint82_WayPoint81 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint81 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint82_WayPoint83 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint83 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint82 - pose: - orientation: - w: 0.766641139984 - x: 3.10340681153e-07 - y: 1.88539232227e-07 - z: -0.642075777054 - position: - x: 24.4641227722 - y: -33.206451416 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint83 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint83_WayPoint82 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint82 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint83_WayPoint84 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint84 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint83 - pose: - orientation: - w: 0.646870851517 - x: -8.9119893687e-08 - y: 8.20008949631e-08 - z: 0.76259958744 - position: - x: 25.0089588165 - y: -36.4909439087 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint84 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint84_WayPoint83 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint83 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint84_WayPoint85 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint85 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint84_WayPoint101 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint101 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint84 - pose: - orientation: - w: 0.639492750168 - x: 2.43724571192e-07 - y: -5.41870576853e-06 - z: 0.768797159195 - position: - x: 26.295085907 - y: -36.2988815308 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint85 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint85_WayPoint84 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint84 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint85_WayPoint86 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint86 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint85 - pose: - orientation: - w: 0.758668422699 - x: -1.15179136628e-06 - y: -3.34765047683e-07 - z: -0.65147703886 - position: - x: 25.7775192261 - y: -32.9840545654 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint86 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint86_WayPoint85 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint85 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint86_WayPoint87 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint87 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint86 - pose: - orientation: - w: -0.761522054672 - x: 2.7573622674e-07 - y: 9.12233417694e-08 - z: 0.648139059544 - position: - x: 25.3805007935 - y: -30.3104667664 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint87 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint87_WayPoint86 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint86 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint87_WayPoint88 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint88 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint87 - pose: - orientation: - w: 0.758946359158 - x: 1.60816952643e-07 - y: 1.08203593641e-07 - z: -0.651153087616 - position: - x: 24.9639987946 - y: -27.4702072144 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint88 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint88_WayPoint87 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint87 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint88_WayPoint89 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint89 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint88 - pose: - orientation: - w: -0.759583890438 - x: 3.0699588649e-08 - y: 1.75466183805e-08 - z: 0.650409460068 - position: - x: 24.5318660736 - y: -24.496509552 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint89 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint89_WayPoint88 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint88 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint89_WayPoint90 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint90 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint89 - pose: - orientation: - w: 0.74958050251 - x: -1.3727105852e-07 - y: -4.90044484991e-08 - z: -0.661913275719 - position: - x: 24.0852127075 - y: -21.5296707153 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint9 - pointset: riseholme_rtk - node: - edges: - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint9_WayPoint10 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint10 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint9_WayPoint8 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint8 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint9 - pose: - orientation: - w: 0.66473543644 - x: -9.02779362377e-08 - y: 8.19182659484e-08 - z: 0.747078835964 - position: - x: 16.9715023041 - y: -37.7694358826 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint90 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint90_WayPoint91 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint91 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint90_WayPoint89 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint89 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint90 - pose: - orientation: - w: -0.75585103035 - x: 1.71555115003e-07 - y: 6.11573369724e-08 - z: 0.654743671417 - position: - x: 23.6533107758 - y: -18.555480957 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint91 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint91_WayPoint92 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint92 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint91_WayPoint90 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint90 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint91 - pose: - orientation: - w: -0.76298815012 - x: 2.54100655184e-06 - y: 1.16885200896e-06 - z: 0.646412551403 - position: - x: 23.2309150696 - y: -15.6113872528 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint92 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint92_WayPoint138 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint138 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint92_WayPoint91 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint91 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint92 - pose: - orientation: - w: -0.753127455711 - x: 3.45660282619e-08 - y: 3.70169672692e-08 - z: 0.657874584198 - position: - x: 22.7789821625 - y: -12.6246795654 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint93 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint93_WayPoint94 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint94 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint93_WayPoint134 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint134 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint93 - pose: - orientation: - w: -0.751326203346 - x: -4.70069210223e-07 - y: -2.39704121441e-07 - z: 0.659931004047 - position: - x: 24.0786705017 - y: -12.4477558136 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint94 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint94_WayPoint95 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint95 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint94_WayPoint93 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint93 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint94 - pose: - orientation: - w: -0.756206274033 - x: 2.4558320888e-07 - y: 2.47099450235e-07 - z: 0.654333591461 - position: - x: 24.5166797638 - y: -15.4151773453 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint95 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint95_WayPoint96 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint96 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint95_WayPoint94 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint94 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint95 - pose: - orientation: - w: 0.764516592026 - x: 1.56514590799e-06 - y: 9.75240823209e-07 - z: -0.644604146481 - position: - x: 24.9537448883 - y: -18.368391037 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint96 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint96_WayPoint97 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint97 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint96_WayPoint95 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint95 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint96 - pose: - orientation: - w: -0.756688117981 - x: 6.81863951968e-08 - y: 5.02004127156e-08 - z: 0.653776109219 - position: - x: 25.3827610016 - y: -21.3341007233 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint97 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint97_WayPoint98 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint98 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint97_WayPoint96 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint96 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint97 - pose: - orientation: - w: -0.755107164383 - x: 3.98042658389e-07 - y: 3.19814205341e-07 - z: 0.65560144186 - position: - x: 25.829240799 - y: -24.3370780945 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint98 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint98_WayPoint99 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint99 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint98_WayPoint97 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint97 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint98 - pose: - orientation: - w: -0.754464924335 - x: 5.43123945818e-08 - y: 6.83713707872e-08 - z: 0.656340360641 - position: - x: 26.2735557556 - y: -27.3029632568 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: WayPoint99 - pointset: riseholme_rtk - node: - edges: - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint99_WayPoint100 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint100 - restrictions: - robot_type: '' - task_name: '' - transition: '' - - action: row_traversal - action_type: row_traversal_msgs/RowTraversalGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: WayPoint99_WayPoint98 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint98 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: WayPoint99 - pose: - orientation: - w: -0.755665242672 - x: -4.64581750848e-09 - y: 2.69157247601e-08 - z: 0.654958128929 - position: - x: 26.6638889313 - y: -30.1287994385 - z: 0.0 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - verts: - - x: -0.389276951551 - y: 0.63791257143 - - x: -0.528169989586 - y: 0.208579674363 - - x: -0.44027146697 - y: -0.358650296926 - - x: -0.177953019738 - y: -0.725811064243 - - x: 0.389276951551 - y: -0.63791257143 - - x: 0.528169989586 - y: -0.208579674363 - - x: 0.44027146697 - y: 0.358650296926 - - x: 0.177953019738 - y: 0.725811064243 -- meta: - map: riseholme - node: dock_0 - pointset: riseholme_rtk - node: - edges: - - action: undock - action_type: undock_msgs/UndockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: dock_0_WayPoint72 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint72 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: dock_0 - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 16.650000000000006 - y: 2.6499999999999915 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - 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 -- meta: - map: riseholme - node: dock_1 - pointset: riseholme_rtk - node: - edges: - - action: undock - action_type: undock_msgs/UndockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: dock_1_WayPoint71 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint71 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: dock_1 - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 16.85000000000001 - y: 1.1999999999999886 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - 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 -- meta: - map: riseholme - node: dock_2 - pointset: riseholme_rtk - node: - edges: - - action: undock - action_type: undock_msgs/UndockGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: dock_2_WayPoint70 - fail_policy: fail - goal: - target_pose: $node.pose - node: WayPoint70 - restrictions: - robot_type: '' - task_name: '' - transition: '' - localise_by_topic: '' - name: dock_2 - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 17.10000000000001 - y: -0.45000000000000284 - z: 1.65918641401e-05 - properties: - xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 6.28 - restrictions: - robot_type: '' - 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 -pointset: riseholme_rtk -transformation: - child: topo_map - parent: map - rotation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - translation: - x: 0.0 - y: 0.0 - z: 0.0 From 294af747523232f744e05846f028d0b433242688 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Tue, 29 Nov 2022 08:57:24 +0000 Subject: [PATCH 3/3] added new file format --- topological_navigation/maps/test.tmap2 | 496 +++++++++++++++---------- 1 file changed, 299 insertions(+), 197 deletions(-) diff --git a/topological_navigation/maps/test.tmap2 b/topological_navigation/maps/test.tmap2 index f7021c5f..6a5c82f2 100644 --- a/topological_navigation/maps/test.tmap2 +++ b/topological_navigation/maps/test.tmap2 @@ -1,31 +1,32 @@ meta: - last_updated: 2021-02-13_15-37-01 -metric_map: map_2d -name: new_map + last_updated: 2022-11-28_20-37-42 +metric_map: test +name: test nodes: - meta: - map: map_2d - node: A - pointset: new_map + map: test + node: WayPoint0 + pointset: test node: edges: - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: A_B + config: [] + edge_id: WayPoint0_WayPoint3 fail_policy: fail - goal: - target_pose: $node.pose - node: B - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: &id001 + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint3 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' localise_by_topic: '' - name: A + name: WayPoint0 + parent_frame: map pose: orientation: w: 1.0 @@ -33,84 +34,73 @@ nodes: y: 0.0 z: 0.0 position: - x: 1.0 + x: 0.0 y: 0.0 z: 0.0 properties: xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' verts: - - x: 0.692909649383465 - y: 0.2870125742738173 - - x: 0.2870125742738174 - y: 0.692909649383465 - - x: -0.2870125742738173 - y: 0.692909649383465 - - x: -0.692909649383465 - y: 0.28701257427381743 - - x: -0.6929096493834651 - y: -0.28701257427381727 - - x: -0.28701257427381777 - y: -0.6929096493834649 - - x: 0.2870125742738169 - y: -0.6929096493834652 - - x: 0.6929096493834649 - y: -0.28701257427381777 + - 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 - meta: - map: map_2d - node: B - pointset: new_map + map: test + node: WayPoint1 + pointset: test node: edges: - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: B_A + config: [] + edge_id: WayPoint1_WayPoint0 fail_policy: fail - goal: - target_pose: $node.pose - node: A - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint0 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: B_C + config: [] + edge_id: WayPoint1_WayPoint4 fail_policy: fail - goal: - target_pose: $node.pose - node: C - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint4 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: B_D + config: [] + edge_id: WayPoint1_WayPoint5 fail_policy: fail - goal: - target_pose: $node.pose - node: D - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint5 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' localise_by_topic: '' - name: B + name: WayPoint1 + parent_frame: map pose: orientation: w: 1.0 @@ -118,69 +108,73 @@ nodes: y: 0.0 z: 0.0 position: - x: 2.0 + x: 5.0 y: 0.0 z: 0.0 properties: xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' verts: - - x: 0.692909649383465 - y: 0.2870125742738173 - - x: 0.2870125742738174 - y: 0.692909649383465 - - x: -0.2870125742738173 - y: 0.692909649383465 - - x: -0.692909649383465 - y: 0.28701257427381743 - - x: -0.6929096493834651 - y: -0.28701257427381727 - - x: -0.28701257427381777 - y: -0.6929096493834649 - - x: 0.2870125742738169 - y: -0.6929096493834652 - - x: 0.6929096493834649 - y: -0.28701257427381777 + - 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 - meta: - map: map_2d - node: C - pointset: new_map + map: test + node: WayPoint2 + pointset: test node: edges: - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: C_B + config: [] + edge_id: WayPoint2_WayPoint1 + fail_policy: fail + fluid_navigation: true + goal: *id001 + node: WayPoint1 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: [] + edge_id: WayPoint2_WayPoint3 fail_policy: fail - goal: - target_pose: $node.pose - node: B - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint3 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: C_D + config: [] + edge_id: WayPoint2_WayPoint5 fail_policy: fail - goal: - target_pose: $node.pose - node: D - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint5 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' localise_by_topic: '' - name: C + name: WayPoint2 + parent_frame: map pose: orientation: w: 1.0 @@ -188,69 +182,177 @@ nodes: y: 0.0 z: 0.0 position: - x: 3.0 + x: 5.0 + y: 5.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' + 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 +- meta: + map: test + node: WayPoint3 + pointset: test + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: [] + edge_id: WayPoint3_WayPoint4 + fail_policy: fail + fluid_navigation: true + goal: *id001 + node: WayPoint4 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' + localise_by_topic: '' + name: WayPoint3 + parent_frame: map + pose: + orientation: + w: 1.0 + x: 0.0 y: 0.0 z: 0.0 + position: + x: 0.0 + y: 5.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' + 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 +- meta: + map: test + node: WayPoint4 + pointset: test + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: [] + edge_id: WayPoint4_WayPoint0 + fail_policy: fail + fluid_navigation: true + goal: *id001 + node: WayPoint0 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + config: [] + edge_id: WayPoint4_WayPoint2 + fail_policy: fail + fluid_navigation: true + goal: *id001 + node: WayPoint2 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' + localise_by_topic: '' + name: WayPoint4 + parent_frame: map + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 2.5 + y: 2.5 + z: 0.0 properties: xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' verts: - - x: 0.692909649383465 - y: 0.2870125742738173 - - x: 0.2870125742738174 - y: 0.692909649383465 - - x: -0.2870125742738173 - y: 0.692909649383465 - - x: -0.692909649383465 - y: 0.28701257427381743 - - x: -0.6929096493834651 - y: -0.28701257427381727 - - x: -0.28701257427381777 - y: -0.6929096493834649 - - x: 0.2870125742738169 - y: -0.6929096493834652 - - x: 0.6929096493834649 - y: -0.28701257427381777 + - 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 - meta: - map: map_2d - node: D - pointset: new_map + map: test + node: WayPoint5 + pointset: test node: edges: - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: D_B + config: [] + edge_id: WayPoint5_WayPoint1 fail_policy: fail - goal: - target_pose: $node.pose - node: B - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint1 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' - action: move_base action_type: move_base_msgs/MoveBaseGoal - config: - inflation_radius: 0.0 - recovery_behaviours_config: '' - top_vel: 0.55 - edge_id: D_C + config: [] + edge_id: WayPoint5_WayPoint2 fail_policy: fail - goal: - target_pose: $node.pose - node: C - restrictions: - robot_type: '' - task_name: '' - transition: '' + fluid_navigation: true + goal: *id001 + node: WayPoint2 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'True' localise_by_topic: '' - name: D + name: WayPoint5 + parent_frame: map pose: orientation: w: 1.0 @@ -258,32 +360,32 @@ nodes: y: 0.0 z: 0.0 position: - x: 3.0 - y: 1.0 + x: 7.5 + y: 2.5 z: 0.0 properties: xy_goal_tolerance: 0.3 - yaw_goal_tolerance: 0.1 - restrictions: - robot_type: '' + yaw_goal_tolerance: 0.2 + restrictions_planning: 'True' + restrictions_runtime: 'True' verts: - - x: 0.692909649383465 - y: 0.2870125742738173 - - x: 0.2870125742738174 - y: 0.692909649383465 - - x: -0.2870125742738173 - y: 0.692909649383465 - - x: -0.692909649383465 - y: 0.28701257427381743 - - x: -0.6929096493834651 - y: -0.28701257427381727 - - x: -0.28701257427381777 - y: -0.6929096493834649 - - x: 0.2870125742738169 - y: -0.6929096493834652 - - x: 0.6929096493834649 - y: -0.28701257427381777 -pointset: new_map + - 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 +pointset: test transformation: child: topo_map parent: map