verts: verts: - verts: &vert0 - x: -0.13 y: 0.213 - x: -0.242 y: 0.059 - x: -0.213 y: -0.13 - x: -0.059 y: -0.242 - x: 0.13 y: -0.213 - x: 0.242 y: -0.059 - x: 0.213 y: 0.13 - x: 0.059 y: 0.242 meta: last_updated: 0 metric_map: risheolme_hall_east name: risheolme_hall_east pointset: risheolme_hall_east 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 nodes: - meta: map: risheolme_hall_east node: WayPoint1 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint1 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -4.91968262080432 y: -1.2396582768847129 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint1_WayPoint2 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint2 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint2 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint2 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -4.634097201850043 y: -0.047272257914078054 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint2_WayPoint1 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint1 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint2_WayPoint3 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint3 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint3 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint3 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -4.242298035328489 y: 1.0011501745546092 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint3_WayPoint2 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint2 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint3_WayPoint4 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint4 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint3_WayPoint29 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint29 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint4 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint4 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -3.164504953664164 y: 0.674121252661821 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint4_WayPoint3 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint3 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint4_WayPoint5 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint5 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint4_WayPoint28 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint28 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint5 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint5 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -2.046225759668267 y: 0.28335467688057864 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint5_WayPoint4 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint4 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint5_WayPoint8 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint8 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint5_WayPoint23 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint23 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint8 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint8 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -0.7881952358888916 y: 0.11816916057833304 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint8_WayPoint5 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint5 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint8_WayPoint22 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint22 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint8_WayPoint20 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint20 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint13 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint13 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: 1.131193395298469 y: -1.0539661817356478 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint13_WayPoint14 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint14 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint14 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint14 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: 1.457409322542239 y: 0.05338590808478391 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint14_WayPoint13 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint13 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint14_WayPoint20 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint20 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint14_WayPoint15 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint15 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint15 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint15 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: 1.744682760356894 y: 1.298680785738284 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint15_WayPoint14 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint14 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint15_WayPoint18 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint18 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint15_WayPoint20 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint20 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint18 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint18 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: 1.889303983950124 y: 2.463973710295267 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint18_WayPoint15 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint15 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint20 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint20 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: 0.647847871393724 y: 0.42055839808076234 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint20_WayPoint8 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint8 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint20_WayPoint22 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint22 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint20_WayPoint14 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint14 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint20_WayPoint15 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint15 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint22 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint22 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -0.3694862489567154 y: 1.0018301814505957 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint22_WayPoint23 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint23 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint22_WayPoint8 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint8 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint22_WayPoint20 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint20 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint23 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint23 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -1.5365943182739352 y: 1.3931161230391798 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint23_WayPoint22 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint22 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint23_WayPoint5 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint5 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint23_WayPoint28 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint28 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint28 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint28 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -2.857988581772375 y: 1.6535341289917382 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint28_WayPoint3 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint3 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint28_WayPoint23 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint23 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint28_WayPoint29 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint29 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - meta: map: risheolme_hall_east node: WayPoint29 pointset: risheolme_hall_east node: localise_by_topic: '' parent_frame: map name: WayPoint29 pose: orientation: w: 0.7897749049165983 x: 0.0 y: 0.0 z: -0.6133967717260812 position: x: -3.851311366399467 y: 1.8800456447694345 z: 0.0 properties: xy_goal_tolerance: 0.3 yaw_goal_tolerance: 0.1 restrictions_planning: True restrictions_runtime: obstacleFree_1 verts: *vert0 edges: - edge_id: WayPoint29_WayPoint3 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint3 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1 - edge_id: WayPoint29_WayPoint28 action: NavigateToPose action_type: geometry_msgs/PoseStamped config: [] fail_policy: fail fluid_navigation: true goal: target_pose: header: frame_id: $node.parent_frame pose: $node.pose node: WayPoint28 recovery_behaviours_config: '' restrictions_planning: 'True' restrictions_runtime: obstacleFree_1