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config.yaml
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preset:
amq: # AMQP Broker Information
broker: &amq_connect_info # amq broker information
address: "rabbitmq"
port: 5672
credentials: &amq_credential # amq credentials
username: "admin"
password: "rabbit"
pub_sub:
- pub_sub_1: &sub_visual_plm
type: "amq"
broker: *amq_connect_info
credential: *amq_credential
exchange: "visual"
queue: "visual_plm_personnel_rk"
handler: "personnel_msg_handler"
- pub_sub_2: &sub_visual_rmt
type: "amq"
broker: *amq_connect_info
credential: *amq_credential
exchange: "visual"
queue: "visual_rmt_robot_rk"
handler: "robot_msg_handler"
render:
map_renders:
- map_render_1: &map_render_1
dimensions: [ 200, 200 ]
background_color: [ 255,255,255 ]
type: "2D"
warn_zone_renders:
- warn_zone_1: &warn_zone_1
size: 10
color: [ 255, 255, 0 ]
red_zone_renders:
- red_zone_1: &red_zone_1
size: 6
color: [ 255, 0, 0 ]
obstacle_renders:
- block: &block
type: "static"
color: [ 0,0,0 ]
shape: "polygon"
- wall: &wall
type: "static"
color: [ 0,0,0 ]
shape: "line"
robot_renders:
- robot_1: &robot_1
color: [ 0,0,0 ]
base_width: 8
joint_width: 3
arm_width: 3
base_shoulder: 5
shoulder_elbow: 3
elbow_wrist: 3
warn_zone: *warn_zone_1
red_zone: *red_zone_1
particle_renders:
- particle_1: &particle_1
ref_pos_color: [ 0,255,0 ]
uwb_pos_color: [ 0,0,0 ]
est_pos_color: [ 0,0,255 ]
ray_cast_color: [ 255,0,255 ]
enable_ray_cast_render: False
size: 3
attributes: &attributes
scaling: 5
interval: 0.01
obstacle_layouts:
obstacles_layout_1: &obstacles_layout_1
- id: '1'
description: "wall-1"
render: *wall
attributes: *attributes
width: 8
points:
- [ 10,10 ]
- [ 160,10 ]
- id: '2'
description: "wall-2"
render: *wall
attributes: *attributes
width: 8
points:
- [ 160,10 ]
- [ 160,160 ]
- id: '3'
description: "wall-3"
render: *wall
attributes: *attributes
width: 8
points:
- [ 160,160 ]
- [ 10,160 ]
- id: '4'
description: "wall-4"
render: *wall
attributes: *attributes
width: 8
points:
- [ 10,160 ]
- [ 10,10 ]
- id: '5'
description: "wall-5"
render: *wall
attributes: *attributes
width: 8
points:
- [ 60,10 ]
- [ 60,30 ]
- id: '6'
description: "wall-6"
render: *wall
attributes: *attributes
width: 8
points:
- [ 100,10 ]
- [ 100,30 ]
- id: '7'
description: "wall-7"
render: *wall
attributes: *attributes
width: 8
points:
- [ 60,80 ]
- [ 60,110 ]
- id: '8'
description: "wall-8"
render: *wall
attributes: *attributes
width: 8
points:
- [ 60,130 ]
- [ 60,160 ]
- id: '9'
description: "wall-9"
render: *wall
attributes: *attributes
width: 8
points:
- [ 100,10 ]
- [ 100,30 ]
- id: '10'
description: "wall-10"
render: *wall
attributes: *attributes
width: 8
points:
- [ 100,50 ]
- [ 100,110 ]
- id: '11'
description: "wall-11"
render: *wall
attributes: *attributes
width: 8
points:
- [ 100,130 ]
- [ 100,160 ]
- id: '12'
description: "wall-12"
render: *wall
attributes: *attributes
width: 8
points:
- [ 10,80 ]
- [ 60,80 ]
- id: '13'
description: "wall-13"
render: *wall
attributes: *attributes
width: 8
points:
- [ 100,80 ]
- [ 160,80 ]
- id: '14'
description: "wall-14"
render: *wall
attributes: *attributes
width: 8
points:
- [ 60,50 ]
- [ 60,80 ]
obstacles_layout_2: &obstacles_layout_2
- id: '1'
description: "wall-1"
render: *wall
attributes: *attributes
width: 5
points:
- [ 10,10 ]
- [ 100,10 ]
- id: '2'
description: "wall-2"
render: *wall
attributes: *attributes
width: 5
points:
- [ 100,10 ]
- [ 100,100 ]
- id: '3'
description: "wall-3"
render: *wall
attributes: *attributes
width: 5
points:
- [ 100,100 ]
- [ 10,100 ]
- id: '4'
description: "wall-4"
render: *wall
attributes: *attributes
width: 5
points:
- [ 10,100 ]
- [ 10,10 ]
protocols:
- protocol_1: &protocol_1
publishers:
subscribers:
- *sub_visual_plm
- *sub_visual_rmt
scene:
version: "0.1" # software version
attributes: *attributes
robots: &robots
- id: "1"
render: *robot_1
- id: "2"
render: *robot_1
- id: "3"
render: *robot_1
- id: "4"
render: *robot_1
particles: &particles
- id: '1'
render: *particle_1
- id: '2'
render: *particle_1
maps:
- id: '1'
render: *map_render_1
obstacles: *obstacles_layout_1
robots: *robots
particles: *particles
protocol: *protocol_1