XML world parser

2026-02-21 17:18:30 -05:00
parent 5a60d22458
commit 8ec4bc7846
5 changed files with 387 additions and 74 deletions
--- a/config/search.yaml
+++ b/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