From 6347eca70d71e79b40d31070932d1d8a889e4a96 Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Thu, 9 Sep 2021 16:45:02 +0100 Subject: [PATCH 1/6] testing scripts for the restrictions --- topological_navigation/CMakeLists.txt | 2 + topological_navigation/tests/conf/tmap.yaml | 12801 ++++++++++++++++ .../tests/restrictions.test | 36 + .../tests/restrictions_tester.py | 96 + 4 files changed, 12935 insertions(+) create mode 100644 topological_navigation/tests/conf/tmap.yaml create mode 100644 topological_navigation/tests/restrictions.test create mode 100755 topological_navigation/tests/restrictions_tester.py diff --git a/topological_navigation/CMakeLists.txt b/topological_navigation/CMakeLists.txt index 10a7632a..5ec3bcc8 100644 --- a/topological_navigation/CMakeLists.txt +++ b/topological_navigation/CMakeLists.txt @@ -168,6 +168,8 @@ if (CATKIN_ENABLE_TESTING) add_rostest(tests/travel_time_estimator.test) + add_rostest(tests/restrictions.test) + # temporarily disabling Morse based tests # add_rostest(tests/navigation_scenarios.test) diff --git a/topological_navigation/tests/conf/tmap.yaml b/topological_navigation/tests/conf/tmap.yaml new file mode 100644 index 00000000..ce16f75d --- /dev/null +++ b/topological_navigation/tests/conf/tmap.yaml @@ -0,0 +1,12801 @@ +meta: + last_updated: 2021-04-27_14-32-11 +metric_map: riseholme +name: riseholme_uv_and_transportation +nodes: +- meta: + map: riseholme + node: WayPoint140 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint140_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint140_WayPoint141 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint141 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint140_WayPoint142 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint142 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint140 + parent_frame: map + pose: + orientation: + w: 0.7897749049165983 + x: 0.0 + y: 0.0 + z: -0.6133967717260812 + position: + x: 20.7508434296 + y: -4.37950954437 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint141_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint141_WayPoint140 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint140 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint141 + parent_frame: map + pose: + orientation: + w: 0.8029703158157347 + x: 0.0 + y: 0.0 + z: -0.5960190197626072 + position: + x: 23.3039474487 + y: -3.95409524918 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint142_WayPoint140 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint140 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint142_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint142_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint142 + parent_frame: map + pose: + orientation: + w: 0.7798152577689397 + x: 0.0 + y: 0.0 + z: -0.6260097153804901 + position: + x: 17.9042915344 + y: -4.71533472061 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint143_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint143_WayPoint68 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint68 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint143 + parent_frame: map + 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_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_WayPoint142 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint142 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_small-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_small-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_small-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_small-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_tall-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint56_tall-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint56 + parent_frame: map + pose: + orientation: + w: 0.7339387165828536 + x: 0.0 + y: 0.0 + z: -0.6792156949752515 + position: + x: 15.3362770081 + y: -7.2246799469 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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: WayPoint63 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_small-t0-r5-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_small-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_tall-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_tall-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint63_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint63 + parent_frame: map + pose: + orientation: + w: 0.7553558324223075 + x: 0.0 + y: 0.0 + z: -0.6553148605255362 + position: + x: 12.4204454422 + y: -7.72864294052 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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: WayPoint66 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_WayPoint142 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint142 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_small-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_small-t0-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_tall-t1-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_tall-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint66_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint66 + parent_frame: map + pose: + orientation: + w: 0.7141335628529389 + x: 0.0 + y: 0.0 + z: -0.7000094673695261 + position: + x: 18.2440853119 + y: -6.72151565552 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_WayPoint143 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint143 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_small-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_small-t1-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_tall-t0-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_tall-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint67_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint67 + parent_frame: map + pose: + orientation: + w: 0.7031461383733332 + x: 0.0 + y: 0.0 + z: -0.7110453628923188 + position: + x: 26.2929611206 + y: -5.31065368652 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: False + config: [] + edge_id: WayPoint68_WayPoint69 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint69 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint68_WayPoint143 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint143 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint68 + parent_frame: map + pose: + orientation: + w: 0.6395024972369147 + x: 0.0 + y: 0.0 + z: -0.7687890191904082 + position: + x: 26.85000000000001 + y: 2.0999999999999943 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: False + config: [] + edge_id: WayPoint69_WayPoint68 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint68 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint69_WayPoint70 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint70 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint69_WayPoint71 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint71 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint69_WayPoint72 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint72 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint69 + parent_frame: map + pose: + orientation: + w: 0.9967937200314319 + x: 0.0 + y: 0.0 + z: 0.08001424689328425 + position: + x: 21.0161151886 + y: 1.9613897800400002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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: WayPoint70 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint70_WayPoint69 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint69 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint70 + parent_frame: map + pose: + orientation: + w: 0.9971259382326672 + x: 0.0 + y: 0.0 + z: 0.07576188556011101 + position: + x: 19.35000000000001 + y: -0.10000000000000853 + z: 0.0 + properties: + xy_goal_tolerance: 1.0 + yaw_goal_tolerance: 7.0 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint71_WayPoint69 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint69 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint71 + parent_frame: map + pose: + orientation: + w: 0.997458317983662 + x: 0.0 + y: 0.0 + z: 0.07125239564536533 + position: + x: 19.05000000000001 + y: 1.5 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint72_WayPoint69 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint69 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint72 + parent_frame: map + pose: + orientation: + w: 0.9981387030430853 + x: 0.0 + y: 0.0 + z: 0.060984666002755906 + position: + x: 18.80000000000001 + y: 3.0 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_WayPoint141 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint141 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_small-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_small-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_small-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_small-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_tall-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint73_tall-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint73 + parent_frame: map + pose: + orientation: + w: 0.689354695246495 + x: 0.0 + y: 0.0 + z: -0.7244239809266477 + position: + x: 23.6688137054 + y: -5.80918359756 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_WayPoint140 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint140 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_small-t1-r5-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_small-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_tall-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_tall-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: WayPoint74_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: WayPoint74 + parent_frame: map + pose: + orientation: + w: 0.8173953878542746 + x: 0.0 + y: 0.0 + z: -0.5760770607432308 + position: + x: 21.1509933472 + y: -6.20381689072 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + 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: dock-0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + fluid_navigation: True + config: [] + edge_id: dock-0_WayPoint72 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint72 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: dock-0 + parent_frame: map + 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_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + fluid_navigation: True + config: [] + edge_id: dock-1_WayPoint71 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint71 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: dock-1 + parent_frame: map + 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_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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_uv_and_transportation + node: + edges: + - action: undock + action_type: undock_msgs/UndockGoal + fluid_navigation: True + config: [] + edge_id: dock-2_WayPoint70 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint70 + recovery_behaviours_config: '' + restrictions_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: dock-2 + parent_frame: map + 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_planning: 'True' + restrictions_runtime: 'obstacleFree_1' + 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: small-t0-r0-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c0_small-t0-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c0_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.528250846806248 + y: -9.350509289576738 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c1_small-t0-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c1_small-t0-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.049999999999997 + y: -12.9125 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c2_small-t0-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c2_small-t0-r0-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.497500000000002 + y: -15.8875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c3_small-t0-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c3_small-t0-r0-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.9425 + y: -18.855 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c4_small-t0-r0-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c4_small-t0-r0-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 21.3725 + y: -21.8325 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c5_small-t0-r0-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c5_small-t0-r0-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 21.7975 + y: -24.822499999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c6_small-t0-r0-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c6_small-t0-r0-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 22.23 + y: -27.785 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c7_small-t0-r0-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c7_small-t0-r0-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 22.657500000000002 + y: -30.7025 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c8_small-t0-r0-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c8_small-t0-r0-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 23.1 + y: -33.615 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r0-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r0-c9_small-t0-r0-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r0-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r0-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 23.62174915319375 + y: -37.17699071042326 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c0_small-t0-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c0_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.252493548747736 + y: -9.694890412504861 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c1_small-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c1_small-t0-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.77 + y: -13.2575 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c2_small-t0-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c2_small-t0-r1-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.217499999999998 + y: -16.225 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c3_small-t0-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c3_small-t0-r1-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.645 + y: -19.1875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c4_small-t0-r1-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c4_small-t0-r1-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.075000000000003 + y: -22.1725 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c5_small-t0-r1-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c5_small-t0-r1-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.5175 + y: -25.1475 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c6_small-t0-r1-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c6_small-t0-r1-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.942500000000003 + y: -28.1125 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c7_small-t0-r1-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c7_small-t0-r1-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 21.35 + y: -30.9625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c8_small-t0-r1-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c8_small-t0-r1-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 21.7375 + y: -33.6625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r1-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r1-c9_small-t0-r1-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r1-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r1-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 22.255006451252264 + y: -37.22510958749514 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c0_small-t0-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.920934013541007 + y: -9.87584942170954 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c1_small-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c1_small-t0-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.445 + y: -13.4375 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c2_small-t0-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c2_small-t0-r2-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.8975 + y: -16.4 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c3_small-t0-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c3_small-t0-r2-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.330000000000002 + y: -19.377499999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c4_small-t0-r2-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c4_small-t0-r2-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.7675 + y: -22.375000000000004 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c5_small-t0-r2-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c5_small-t0-r2-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.2125 + y: -25.34 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c6_small-t0-r2-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c6_small-t0-r2-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.6375 + y: -28.305 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c7_small-t0-r2-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c7_small-t0-r2-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.049999999999997 + y: -31.15 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c8_small-t0-r2-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c8_small-t0-r2-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.462500000000002 + y: -33.849999999999994 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r2-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r2-c9_small-t0-r2-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r2-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r2-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 20.986565986458995 + y: -37.411650578290455 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c0_small-t0-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 15.580958737071159 + y: -10.061214516016259 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c1_small-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c1_small-t0-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.107499999999998 + y: -13.622499999999999 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c2_small-t0-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c2_small-t0-r3-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.5575 + y: -16.5825 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c3_small-t0-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c3_small-t0-r3-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.995 + y: -19.5625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c4_small-t0-r3-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c4_small-t0-r3-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.4425 + y: -22.552500000000002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c5_small-t0-r3-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c5_small-t0-r3-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.8875 + y: -25.53 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c6_small-t0-r3-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c6_small-t0-r3-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.317500000000003 + y: -28.505000000000003 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c7_small-t0-r3-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c7_small-t0-r3-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.73 + y: -31.362499999999997 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c8_small-t0-r3-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c8_small-t0-r3-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.137500000000003 + y: -34.0625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r3-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r3-c9_small-t0-r3-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r3-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r3-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 19.66404126292884 + y: -37.62378548398374 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c0_small-t0-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c0_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 14.258157714437713 + y: -10.248390087675054 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c1_small-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c1_small-t0-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 14.782499999999999 + y: -13.81 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c2_small-t0-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c2_small-t0-r4-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 15.23 + y: -16.770000000000003 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c3_small-t0-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c3_small-t0-r4-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 15.677499999999998 + y: -19.7725 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c4_small-t0-r4-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c4_small-t0-r4-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.125 + y: -22.762499999999996 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c5_small-t0-r4-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c5_small-t0-r4-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.5625 + y: -25.724999999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c6_small-t0-r4-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c6_small-t0-r4-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.990000000000002 + y: -28.7025 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c7_small-t0-r4-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c7_small-t0-r4-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.4025 + y: -31.575000000000003 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c8_small-t0-r4-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c8_small-t0-r4-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.799999999999997 + y: -34.272499999999994 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r4-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r4-c9_small-t0-r4-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r4-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r4-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 18.32434228556228 + y: -37.83410991232494 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c0_small-t0-r5-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c0_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c0 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 12.921362395974217 + y: -10.255786415270013 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c1_small-t0-r5-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c1_small-t0-r5-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c1 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 13.445000000000002 + y: -13.817499999999999 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c2_small-t0-r5-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c2_small-t0-r5-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c2 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 13.895 + y: -16.7875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c3_small-t0-r5-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c3_small-t0-r5-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c3 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 14.35 + y: -19.822499999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c4_small-t0-r5-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c4_small-t0-r5-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c4 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 14.7975 + y: -22.83 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c5_small-t0-r5-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c5_small-t0-r5-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c5 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 15.2225 + y: -25.78 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c6_small-t0-r5-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c6_small-t0-r5-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c6 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 15.6475 + y: -28.7525 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c7_small-t0-r5-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c7_small-t0-r5-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c7 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.08 + y: -31.6875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c8_small-t0-r5-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c8_small-t0-r5-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c8 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 16.502499999999998 + y: -34.5375 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t0-r5-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t0-r5-c9_small-t0-r5-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t0-r5-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t0-r5-c9 + parent_frame: map + pose: + orientation: + w: 0.7566142743603234 + x: 0.0 + y: 0.0 + z: -0.6538614836754045 + position: + x: 17.026137604025784 + y: -38.09921358472999 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3839717361251064 + y: -0.6411198818013286 + - x: 0.5264215248037732 + y: -0.212953957097135 + - x: 0.4432315207951729 + y: 0.3549856737865013 + - x: 0.1839678947585299 + y: 0.724309885809929 + - x: -0.3839717361251064 + y: 0.6411198818013286 + - x: -0.5264215248037732 + y: 0.212953957097135 + - x: -0.4432315207951729 + y: -0.3549856737865013 + - x: -0.1839678947585299 + y: -0.724309885809929 +- meta: + map: riseholme + node: small-t1-r0-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c0_small-t1-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c0_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.478100868522482 + y: -8.216267445778325 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c1_small-t1-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c1_small-t1-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.005000000000003 + y: -11.7775 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c2_small-t1-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c2_small-t1-r0-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.4425 + y: -14.760000000000002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c3_small-t1-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c3_small-t1-r0-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.865000000000002 + y: -17.72 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c4_small-t1-r0-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c4_small-t1-r0-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 29.295 + y: -20.6775 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c5_small-t1-r0-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c5_small-t1-r0-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 29.747500000000002 + y: -23.655 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c6_small-t1-r0-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c6_small-t1-r0-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 30.1975 + y: -26.6625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c7_small-t1-r0-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c7_small-t1-r0-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 30.635 + y: -29.575 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c8_small-t1-r0-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c8_small-t1-r0-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 31.0475 + y: -32.385 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r0-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r0-c9_small-t1-r0-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r0-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r0-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 31.57439913147752 + y: -35.94623255422167 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c0_small-t1-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c0_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.169302720038942 + y: -8.551459754026677 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c1_small-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c1_small-t1-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.697499999999998 + y: -12.1125 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c2_small-t1-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c2_small-t1-r1-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.150000000000002 + y: -15.075 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c3_small-t1-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c3_small-t1-r1-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.585 + y: -18.022499999999997 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c4_small-t1-r1-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c4_small-t1-r1-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.020000000000003 + y: -20.985 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c5_small-t1-r1-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c5_small-t1-r1-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.47 + y: -23.962500000000002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c6_small-t1-r1-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c6_small-t1-r1-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.9225 + y: -26.9625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c7_small-t1-r1-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c7_small-t1-r1-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 29.335 + y: -29.7975 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c8_small-t1-r1-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c8_small-t1-r1-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 29.7075 + y: -32.46 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r1-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r1-c9_small-t1-r1-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r1-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r1-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 30.235697279961055 + y: -36.021040245973325 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c0_small-t1-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.843474656987834 + y: -8.739082676268534 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c1_small-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c1_small-t1-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.3725 + y: -12.299999999999999 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c2_small-t1-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c2_small-t1-r2-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.825000000000003 + y: -15.2725 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c3_small-t1-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c3_small-t1-r2-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.26 + y: -18.22 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c4_small-t1-r2-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c4_small-t1-r2-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.6975 + y: -21.197499999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c5_small-t1-r2-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c5_small-t1-r2-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.1475 + y: -24.1625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c6_small-t1-r2-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c6_small-t1-r2-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.597499999999997 + y: -27.1375 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c7_small-t1-r2-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c7_small-t1-r2-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.01 + y: -29.972500000000004 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c8_small-t1-r2-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c8_small-t1-r2-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.384999999999998 + y: -32.635000000000005 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r2-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r2-c9_small-t1-r2-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r2-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r2-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 28.914025343012163 + y: -36.19591732373147 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c0_small-t1-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 23.548916109785623 + y: -8.926146922803511 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c1_small-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c1_small-t1-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.075000000000003 + y: -12.4875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c2_small-t1-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c2_small-t1-r3-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.5125 + y: -15.4725 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c3_small-t1-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c3_small-t1-r3-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.935 + y: -18.4225 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c4_small-t1-r3-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c4_small-t1-r3-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.3725 + y: -21.3875 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c5_small-t1-r3-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c5_small-t1-r3-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.8225 + y: -24.3375 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c6_small-t1-r3-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c6_small-t1-r3-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.2725 + y: -27.3125 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c7_small-t1-r3-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c7_small-t1-r3-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.687500000000004 + y: -30.1625 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c8_small-t1-r3-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c8_small-t1-r3-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.0625 + y: -32.824999999999996 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r3-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r3-c9_small-t1-r3-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r3-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r3-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 27.58858389021438 + y: -36.38635307719649 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c0_small-t1-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c0_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 22.24675567404429 + y: -9.118228618319929 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c1_small-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c1_small-t1-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 22.769999999999996 + y: -12.68 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c2_small-t1-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c2_small-t1-r4-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 23.205000000000002 + y: -15.669999999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c3_small-t1-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c3_small-t1-r4-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 23.625 + y: -18.6175 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c4_small-t1-r4-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c4_small-t1-r4-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.07 + y: -21.57 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c5_small-t1-r4-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c5_small-t1-r4-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.515 + y: -24.5325 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c6_small-t1-r4-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c6_small-t1-r4-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.95 + y: -27.5075 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c7_small-t1-r4-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c7_small-t1-r4-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.36 + y: -30.349999999999998 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c8_small-t1-r4-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c8_small-t1-r4-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 25.749999999999996 + y: -33.025 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r4-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r4-c9_small-t1-r4-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r4-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r4-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 26.2732443259557 + y: -36.586771381680066 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c0_small-t1-r5-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c0_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c0 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 20.873122296269567 + y: -9.160895302138318 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c1_small-t1-r5-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c1_small-t1-r5-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c1 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 21.3975 + y: -12.7225 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c2_small-t1-r5-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c2_small-t1-r5-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c2 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 21.845000000000002 + y: -15.7075 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c3 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c3_small-t1-r5-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c3_small-t1-r5-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c3 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 22.2875 + y: -18.6725 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c4 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c4_small-t1-r5-c3 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c3 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c4_small-t1-r5-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c4 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 22.72 + y: -21.64 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c5 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c5_small-t1-r5-c4 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c4 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c5_small-t1-r5-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c5 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 23.1475 + y: -24.6175 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c6 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c6_small-t1-r5-c5 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c5 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c6_small-t1-r5-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c6 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 23.5775 + y: -27.580000000000002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c7 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c7_small-t1-r5-c6 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c6 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c7_small-t1-r5-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c7 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.005000000000003 + y: -30.490000000000002 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c8 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c8_small-t1-r5-c7 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c7 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c8_small-t1-r5-c9 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c9 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c8 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.462500000000002 + y: -33.39 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: small-t1-r5-c9 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: small-t1-r5-c9_small-t1-r5-c8 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: small-t1-r5-c8 + recovery_behaviours_config: '' + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: small-t1-r5-c9 + parent_frame: map + pose: + orientation: + w: 0.7570868080527051 + x: 0.0 + y: 0.0 + z: -0.6533142927202545 + position: + x: 24.986877703730435 + y: -36.95160469786168 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 6.28 + restrictions_planning: 'robot_short' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.3848983733954697 + y: -0.6405640008159993 + - x: 0.526728899032632 + y: -0.21219254591980724 + - x: 0.44271775959631 + y: 0.3556262011692642 + - x: 0.18292037369360176 + y: 0.7245751402523212 + - x: -0.3848983733954697 + y: 0.6405640008159993 + - x: -0.526728899032632 + y: 0.21219254591980724 + - x: -0.44271775959631 + y: -0.3556262011692642 + - x: -0.18292037369360176 + y: -0.7245751402523212 +- meta: + map: riseholme + node: tall-t0-r0-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c0_tall-t0-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c0_tall-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c0_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r0-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 26.871219635 + y: -8.57828330994 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r0-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c1_tall-t0-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c1_tall-t0-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r0-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 28.9023780823 + y: -22.3284606934 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r0-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c2_tall-t0-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r0-c2_tall-t0-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r0-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 30.894743677585105 + y: -35.94505645705402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r1-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c0_tall-t0-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c0_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c0_tall-t0-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c0_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r1-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 25.519826889 + y: -8.80274772644 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r1-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c1_tall-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c1_tall-t0-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r1-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 27.5617446899 + y: -22.5340423584 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r1-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c2_tall-t0-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c2_tall-t0-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r1-c2_tall-t0-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r1-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 29.598967310385106 + y: -36.14810134845402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r2-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_tall-t0-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_tall-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_tall-t0-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c0_WayPoint67 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint67 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r2-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 24.2120990753 + y: -9.00120162964 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r2-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c1_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c1_tall-t0-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r2-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 26.240644455 + y: -22.7276000977 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: robot_tall + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r2-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c2_tall-t0-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c2_tall-t0-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r2-c2_tall-t0-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r2-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 28.250984903785106 + y: -36.33979751545402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r3-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c0_tall-t0-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c0_tall-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c0_tall-t0-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c0_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c0_WayPoint73 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint73 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r3-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 22.9220657349 + y: -9.20281600952 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r3-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c1_tall-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c1_tall-t0-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r3-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 24.954082489 + y: -22.946100235 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r3-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c2_tall-t0-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c2_tall-t0-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r3-c2_tall-t0-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r3-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 26.945385691085104 + y: -36.55604125935402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r4-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c0_tall-t0-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c0_tall-t0-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c0_WayPoint74 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint74 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r4-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 21.6146430969 + y: -9.41316413879 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r4-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c1_tall-t0-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c1_tall-t0-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r4-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 23.6351661682 + y: -23.1455612183 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t0-r4-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c2_tall-t0-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t0-r4-c2_tall-t0-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t0-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t0-r4-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 25.635498758785104 + y: -36.75929977375402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r0-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c0_tall-t1-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c0_tall-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c0_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r0-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 18.9433765411 + y: -9.84392356873 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r0-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c1_tall-t1-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c1_tall-t1-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r0-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 20.937664032 + y: -23.5692234039 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r0-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c2_tall-t1-r0-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r0-c2_tall-t1-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r0-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 22.915657755385105 + y: -37.193175811354024 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r1-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c0_tall-t1-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c0_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c0_tall-t1-r0-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c0_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r1-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 17.6317653656 + y: -10.0511760712 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r1-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c1_tall-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c1_tall-t1-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r1-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 19.6318664551 + y: -23.7595119476 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r1-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c2_tall-t1-r1-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c2_tall-t1-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r1-c2_tall-t1-r0-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r0-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r1-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 21.636023279585103 + y: -37.37216140705402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r2-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_tall-t1-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_tall-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_tall-t1-r1-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c0_WayPoint66 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint66 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r2-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 16.2781791687 + y: -10.2434005737 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r2-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c1_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c1_tall-t1-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r2-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 18.3280582428 + y: -23.942522049 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r2-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c2_tall-t1-r2-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c2_tall-t1-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r2-c2_tall-t1-r1-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r1-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r2-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 20.374644037685105 + y: -37.56874801585402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r3-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c0_tall-t1-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c0_tall-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c0_tall-t1-r2-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c0_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c0_WayPoint56 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint56 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r3-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 14.9655475616 + y: -10.4636011124 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r3-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c1_tall-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c1_tall-t1-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r3-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 16.9808979034 + y: -24.1296234131 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r3-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c2_tall-t1-r3-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c2_tall-t1-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r3-c2_tall-t1-r2-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r2-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r3-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 18.982176538885106 + y: -37.76452590895402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r4-c0 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c0_tall-t1-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c0_tall-t1-r3-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: move_base + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c0_WayPoint63 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: WayPoint63 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r4-c0 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 13.6513690948 + y: -10.6481618881 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r4-c1 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c1_tall-t1-r4-c0 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c0 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c1_tall-t1-r4-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r4-c1 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 15.6664028168 + y: -24.3333568573 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +- meta: + map: riseholme + node: tall-t1-r4-c2 + pointset: riseholme_uv_and_transportation + node: + edges: + - action: row_traversal + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c2_tall-t1-r4-c1 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r4-c1 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + - action: row_change + action_type: move_base_msgs/MoveBaseGoal + fluid_navigation: True + config: [] + edge_id: tall-t1-r4-c2_tall-t1-r3-c2 + fail_policy: fail + goal: + target_pose: + header: + frame_id: $node.parent_frame + pose: $node.pose + node: tall-t1-r3-c2 + recovery_behaviours_config: '' + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + localise_by_topic: '' + name: tall-t1-r4-c2 + parent_frame: map + pose: + orientation: + w: 0.756889507045039 + x: 0.0 + y: 0.0 + z: -0.6535428632653851 + position: + x: 17.671026941785104 + y: -37.94117309525402 + z: 0.0 + properties: + xy_goal_tolerance: 0.3 + yaw_goal_tolerance: 0.1 + restrictions_planning: 'robot_tall' + restrictions_runtime: 'obstacleFree_1' + verts: + - x: 0.384511440992 + y: -0.640796363354 + - x: 0.526600658894 + y: -0.212510615587 + - x: 0.442932456732 + y: 0.35535877943 + - x: 0.183357924223 + y: 0.724464535713 + - x: -0.384511440992 + y: 0.640796363354 + - x: -0.526600658894 + y: 0.212510615587 + - x: -0.442932456732 + y: -0.35535877943 + - x: -0.183357924223 + y: -0.724464535713 +pointset: riseholme_uv_and_transportation +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/tests/restrictions.test b/topological_navigation/tests/restrictions.test new file mode 100644 index 00000000..6f78c99e --- /dev/null +++ b/topological_navigation/tests/restrictions.test @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + topics: + - name: /restricted_topological_map + timeout: 20 + negative: False + - name: /restricted_topological_map_2 + timeout: 20 + negative: False + + + + + + + \ No newline at end of file diff --git a/topological_navigation/tests/restrictions_tester.py b/topological_navigation/tests/restrictions_tester.py new file mode 100755 index 00000000..06b02d2e --- /dev/null +++ b/topological_navigation/tests/restrictions_tester.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python + +import unittest +import rospy +import yaml +from std_msgs.msg import String +from topological_navigation.route_search2 import TopologicalRouteSearch2 +from topological_navigation_msgs.srv import RestrictMap, RestrictMapRequest, RestrictMapResponse + +class TestRestrictions(unittest.TestCase): + + def restr_tmap_cb(self, msg): + self.restr_tmap = yaml.safe_load(msg.data) + + def tmap_cb(self, msg): + self.tmap = yaml.safe_load(msg.data) + + # only functions with 'test_'-prefix will be run! + def setUp(self): + rospy.init_node("restrictions_tester") + + rospy.Subscriber("/restricted_topological_map_2", String, self.restr_tmap_cb) + + rospy.Subscriber("/topological_map_2", String, self.tmap_cb) + + self.tmap = None + self.restr_tmap = None + + def test_maps_received(self): + + rate = rospy.Rate(1) # check every second + max_seconds = 10 + count = 0 + + while not rospy.is_shutdown() and count < max_seconds and\ + (self.restr_tmap is None or self.tmap is None): + count += 1 + rate.sleep() + + self.assertTrue(self.restr_tmap is not None) + self.assertTrue(self.tmap is not None) + + def test_restriction_tall_robot(self): + + # restrict the planning map for a tall robot + srvpr = rospy.ServiceProxy("/restrictions_manager/restrict_planning_map", RestrictMap) + + req = RestrictMapRequest() + req.state = '{"type": "tall"}' + + res = srvpr.call(req) + self.assertTrue(res.success) + + if res.success: + restricted_map = yaml.safe_load(res.restricted_tmap) + rsearch = TopologicalRouteSearch2(restricted_map) + + _r = rsearch.search_route("WayPoint141", "WayPoint66") + # this should contain the nodes .... + should_contain = ["WayPoint73", "WayPoint74"] + for node in should_contain: + self.assertIn(node, _r.source) + + # this should return a viable path + _r = rsearch.search_route("WayPoint141", "WayPoint67") + + self.assertGreater(len(_r.edge_id), 0) + + def test_restriction_short_robot(self): + # restrict the planning map for a tall robot + srvpr = rospy.ServiceProxy("/restrictions_manager/restrict_planning_map", RestrictMap) + + req = RestrictMapRequest() + req.state = '{"type": "short"}' + + res = srvpr.call(req) + self.assertTrue(res.success) + + if res.success: + restricted_map = yaml.safe_load(res.restricted_tmap) + rsearch = TopologicalRouteSearch2(restricted_map) + + _r = rsearch.search_route("WayPoint141", "WayPoint66") + # this should contain the nodes .... + should_contain = ["WayPoint140", "WayPoint142"] + for node in should_contain: + self.assertIn(node, _r.source) + + # this should not return a viable path + _r = rsearch.search_route("WayPoint141", "WayPoint67") + self.assertEqual(len(_r.edge_id), 0) + +if __name__ == '__main__': + PKG = 'topological_navigation' + import rostest + rostest.rosrun(PKG, 'TestRestrictions', TestRestrictions) \ No newline at end of file From 18c4bcd9285f21db265d9a706dc9fec8ae3302c9 Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Thu, 9 Sep 2021 17:01:20 +0100 Subject: [PATCH 2/6] declaring python-sympy dependency --- topological_navigation/package.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/topological_navigation/package.xml b/topological_navigation/package.xml index 90e388fa..bef6470a 100644 --- a/topological_navigation/package.xml +++ b/topological_navigation/package.xml @@ -42,6 +42,8 @@ dwa_local_planner fremenserver rospy_message_converter + python-sympy + rosunit rostest @@ -50,6 +52,7 @@ strands_morse scitos_teleop tf + python-sympy From dbf705bbbfa420c01631850afa2ce4909e987080 Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Thu, 9 Sep 2021 17:04:45 +0100 Subject: [PATCH 3/6] remove python-sympy test_depend because its redundant apparently? --- topological_navigation/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/topological_navigation/package.xml b/topological_navigation/package.xml index bef6470a..42911287 100644 --- a/topological_navigation/package.xml +++ b/topological_navigation/package.xml @@ -52,7 +52,7 @@ strands_morse scitos_teleop tf - python-sympy + From fe504b6ec5a42099706a6ad1fda91f79259c91a7 Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Thu, 9 Sep 2021 11:59:54 +0100 Subject: [PATCH 4/6] restriction manager gets the out_topic for the restricted map and the config file as parameters --- .../restrictions_manager.py | 22 ++++++++++++------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/topological_navigation/src/topological_navigation/restrictions_manager.py b/topological_navigation/src/topological_navigation/restrictions_manager.py index 0cbdfeb3..1eb6ab33 100755 --- a/topological_navigation/src/topological_navigation/restrictions_manager.py +++ b/topological_navigation/src/topological_navigation/restrictions_manager.py @@ -18,7 +18,7 @@ class RestrictionsManager(): - def __init__(self, robots, tasks): + def __init__(self, robots, tasks, out_topic): self.robots = robots self.tasks = tasks @@ -35,10 +35,10 @@ def __init__(self, robots, tasks): # publishers for restricted tmap - self.restricted_tmap_pub = rospy.Publisher("topological_map", + self.restricted_tmap_pub = rospy.Publisher(out_topic, TopologicalMap, queue_size=10, latch=True) self.restricted_tmap2_pub = rospy.Publisher( - "topological_map_2", String, queue_size=10, + "{}_2".format(out_topic), String, queue_size=10, latch=True) def register_restriction(self, condition_obj): @@ -342,10 +342,16 @@ def get_admissible_tasks(config): _tasks = [] _robots = [] - if len(sys.argv) > 1: - # this is the coordinator config file - config_file = sys.argv[1] - + + restricted_map_topic = rospy.get_param("~out_topic", "restricted_topological_map") + + try: + config_file = rospy.get_param("~config_file") + except KeyError: + rospy.logwarn("Config file not provided.") + pass + else: + # this is the coordinator config file if os.path.isfile(config_file): _config = {} with open(config_file, "r") as f_handle: @@ -361,7 +367,7 @@ def get_admissible_tasks(config): if len(_robots) == 0: rospy.logwarn("No admissible robot read in config file.") - manager = RestrictionsManager(robots=_robots, tasks=_tasks) + manager = RestrictionsManager(robots=_robots, tasks=_tasks, out_topic=restricted_map_topic) # automatically find and register all the classes of AbstractRestriction type clsmembers = inspect.getmembers(sys.modules[__name__], inspect.isclass) From 9910672d2b1580c5e9ed8e72431c52c930bf7b4e Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Thu, 9 Sep 2021 19:21:12 +0100 Subject: [PATCH 5/6] wait for service before calling it, and remove check of topics given it's already done in the .test file --- .../tests/restrictions.test | 5 --- .../tests/restrictions_tester.py | 32 +++---------------- 2 files changed, 4 insertions(+), 33 deletions(-) diff --git a/topological_navigation/tests/restrictions.test b/topological_navigation/tests/restrictions.test index 6f78c99e..76874ee8 100644 --- a/topological_navigation/tests/restrictions.test +++ b/topological_navigation/tests/restrictions.test @@ -3,12 +3,7 @@ - - - diff --git a/topological_navigation/tests/restrictions_tester.py b/topological_navigation/tests/restrictions_tester.py index 06b02d2e..e816ec88 100755 --- a/topological_navigation/tests/restrictions_tester.py +++ b/topological_navigation/tests/restrictions_tester.py @@ -8,41 +8,15 @@ from topological_navigation_msgs.srv import RestrictMap, RestrictMapRequest, RestrictMapResponse class TestRestrictions(unittest.TestCase): - - def restr_tmap_cb(self, msg): - self.restr_tmap = yaml.safe_load(msg.data) - - def tmap_cb(self, msg): - self.tmap = yaml.safe_load(msg.data) # only functions with 'test_'-prefix will be run! def setUp(self): rospy.init_node("restrictions_tester") - rospy.Subscriber("/restricted_topological_map_2", String, self.restr_tmap_cb) - - rospy.Subscriber("/topological_map_2", String, self.tmap_cb) - - self.tmap = None - self.restr_tmap = None - - def test_maps_received(self): - - rate = rospy.Rate(1) # check every second - max_seconds = 10 - count = 0 - - while not rospy.is_shutdown() and count < max_seconds and\ - (self.restr_tmap is None or self.tmap is None): - count += 1 - rate.sleep() - - self.assertTrue(self.restr_tmap is not None) - self.assertTrue(self.tmap is not None) - def test_restriction_tall_robot(self): - # restrict the planning map for a tall robot + rospy.wait_for_service("/restrictions_manager/restrict_planning_map", timeout=30) + srvpr = rospy.ServiceProxy("/restrictions_manager/restrict_planning_map", RestrictMap) req = RestrictMapRequest() @@ -68,6 +42,8 @@ def test_restriction_tall_robot(self): def test_restriction_short_robot(self): # restrict the planning map for a tall robot + rospy.wait_for_service("/restrictions_manager/restrict_planning_map", timeout=30) + srvpr = rospy.ServiceProxy("/restrictions_manager/restrict_planning_map", RestrictMap) req = RestrictMapRequest() From 642bc9bf0686741ffc374633bc21dacca54f587f Mon Sep 17 00:00:00 2001 From: francescodelduchetto Date: Sun, 3 Oct 2021 12:36:47 +0100 Subject: [PATCH 6/6] fix unconsistencies in restrictions --- topological_navigation/tests/conf/tmap.yaml | 63 +-------------------- 1 file changed, 2 insertions(+), 61 deletions(-) diff --git a/topological_navigation/tests/conf/tmap.yaml b/topological_navigation/tests/conf/tmap.yaml index ce16f75d..7465b20d 100644 --- a/topological_navigation/tests/conf/tmap.yaml +++ b/topological_navigation/tests/conf/tmap.yaml @@ -819,7 +819,7 @@ nodes: pose: $node.pose node: WayPoint73 recovery_behaviours_config: '' - restrictions_planning: 'True' + restrictions_planning: 'robot_tall' restrictions_runtime: 'obstacleFree_1' - action: move_base action_type: move_base_msgs/MoveBaseGoal @@ -6722,21 +6722,6 @@ nodes: recovery_behaviours_config: '' restrictions_planning: 'robot_short' restrictions_runtime: 'obstacleFree_1' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - fluid_navigation: True - config: [] - edge_id: small-t1-r1-c0_WayPoint73 - fail_policy: fail - goal: - target_pose: - header: - frame_id: $node.parent_frame - pose: $node.pose - node: WayPoint73 - recovery_behaviours_config: '' - restrictions_planning: 'robot_short' - restrictions_runtime: 'obstacleFree_1' - action: move_base action_type: move_base_msgs/MoveBaseGoal fluid_navigation: True @@ -7432,21 +7417,6 @@ nodes: recovery_behaviours_config: '' restrictions_planning: 'robot_short' restrictions_runtime: 'obstacleFree_1' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - fluid_navigation: True - config: [] - edge_id: small-t1-r2-c0_WayPoint73 - fail_policy: fail - goal: - target_pose: - header: - frame_id: $node.parent_frame - pose: $node.pose - node: WayPoint73 - recovery_behaviours_config: '' - restrictions_planning: 'robot_short' - restrictions_runtime: 'obstacleFree_1' localise_by_topic: '' name: small-t1-r2-c0 parent_frame: map @@ -8127,21 +8097,6 @@ nodes: recovery_behaviours_config: '' restrictions_planning: 'robot_short' restrictions_runtime: 'obstacleFree_1' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - fluid_navigation: True - config: [] - edge_id: small-t1-r3-c0_WayPoint73 - fail_policy: fail - goal: - target_pose: - header: - frame_id: $node.parent_frame - pose: $node.pose - node: WayPoint73 - recovery_behaviours_config: '' - restrictions_planning: 'robot_short' - restrictions_runtime: 'obstacleFree_1' localise_by_topic: '' name: small-t1-r3-c0 parent_frame: map @@ -8837,21 +8792,6 @@ nodes: recovery_behaviours_config: '' restrictions_planning: 'robot_short' restrictions_runtime: 'obstacleFree_1' - - action: move_base - action_type: move_base_msgs/MoveBaseGoal - fluid_navigation: True - config: [] - edge_id: small-t1-r4-c0_WayPoint73 - fail_policy: fail - goal: - target_pose: - header: - frame_id: $node.parent_frame - pose: $node.pose - node: WayPoint73 - recovery_behaviours_config: '' - restrictions_planning: 'robot_short' - restrictions_runtime: 'obstacleFree_1' localise_by_topic: '' name: small-t1-r4-c0 parent_frame: map @@ -12799,3 +12739,4 @@ transformation: x: 0.0 y: 0.0 z: 0.0 +