26 lines
873 B
YAML
26 lines
873 B
YAML
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bt_executor:
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ros__parameters:
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execution_enabled: false
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robot_id: ""
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allowed_robots: []
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site_config_file: ""
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journal_directory: ""
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minimum_confidence: 0.9
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observation_lifetime_ms: 2000
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readiness_timeout_ms: 2000
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acceptance_timeout_ms: 2000
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feedback_timeout_ms: 5000
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skill_timeout_ms: 120000
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cancel_stop_timeout_ms: 5000
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max_reobservations: 2
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max_posture_adjustments: 1
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navigate_action: skills/navigate
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execute_manipulation_action: skills/execute_manipulation
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locate_shelf_column_action: skills/locate_shelf_column
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localize_target_3d_action: skills/localize_target_3d
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assess_grasp_action: skills/assess_grasp
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execute_posture_action: skills/execute_posture
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verify_state_action: skills/verify_state
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check_free_space_action: skills/check_free_space
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execute_task_action: tasks/execute
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