XML world parser

config/search.yaml

@@ -10,10 +10,11 @@ marker:
   size: 0.5                # Physical marker size in meters
   landing_ids: [0]         # Marker IDs that trigger landing (on UGV)
   target_ids: [1]          # Marker IDs to find and report to UGV
+  target_position: [-5.0, -5.0] # Initial X, Y location of the target Aruco map in the map
 
 # ── Search Patterns ──────────────────────────────────────────
 spiral:
-  max_legs: 60
+  max_legs: 35
 
 lawnmower:
   width: 30.0