tasks

Generate navigation waypoints for each room in the floorplan

The current version creates a YAML file for each room with the waypoints for a disinfection task (one waypoint per corner). The files currently have the following structure:

id: <space name>
task:
  - name: <space name>
    type: waypoint_following
    waypoints:
    - {id: <space name>-point-0000, x: <float>, y: <float>, yaw: <float>, z: <float>}
    - {id: <space name>-point-0001, x: <float>, y: <float>, yaw: <float>, z: <float>}
    - {id: <space name>-point-0002, x: <float>, y: <float>, yaw: <float>, z: <float>}
    - {id: <space name>-point-0003, x: <float>, y: <float>, yaw: <float>, z: <float>}

Usage:

floorplan generate tasks [OPTIONS]

Options

Optional

• --dist-to-corner (FLOAT) Distance between generated waypoints and a space’s corner. Default: 0.7