knowledge_base_msgs/msg/Policy Message

File: knowledge_base_msgs/msg/Policy.msg

Raw Message Definition

# Sentence for speak behavior

string sentence

# marker_id on the dock at which needs to be docked

int64 dock_marker_id -1

# distance when approaching or moving along an object. Note, this was dock_approach_offset

float64 object_distance 1.0

# name of the controller (in controller server) to use

string controller_name

# speed limits

float64 min_speed 0.0
float64 max_speed 1.0

# elevation limits

float64 min_height
float64 max_height

# maximum allowed distance from the path (negative values indicate infinity)

float64 max_path_distance -1.0

# A max traveled distance in meters

float64 travel_distance -1

# path offset from the line to follow in meters

float64 offset -1

# side at which the offset is meant

uint8 LEFT_OF_ROBOT=0
uint8 RIGHT_OF_ROBOT=1

uint8 keep_at_side

# Infill policy

complete_coverage_planner_msgs/InfillPolicy infill_policy

# add custom policy field

string custom_policies

Compact Message Definition

string sentence
int64 dock_marker_id -1
float64 object_distance 1.0
string controller_name
float64 min_speed 0.0
float64 max_speed 1.0
float64 min_height
float64 max_height
float64 max_path_distance -1.0
float64 travel_distance -1
float64 offset -1
uint8 LEFT_OF_ROBOT=0
uint8 RIGHT_OF_ROBOT=1
uint8 keep_at_side
complete_coverage_planner_msgs/InfillPolicy infill_policy
string custom_policies