Initial Commit

config/geofence_params.yaml

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+# Geofence Configuration
+# GPS is ONLY used for safety boundaries, NOT navigation
+
+/**:
+  ros__parameters:
+    
+    geofence:
+      enabled: true
+      
+      # Fence type
+      type: "polygon"  # Options: "polygon", "circle", "cylinder"
+      
+      # Polygon fence (GPS coordinates for safety boundary)
+      polygon_fence:
+        points:
+          - latitude: 47.397742
+            longitude: 8.545594
+          - latitude: 47.398242
+            longitude: 8.545594
+          - latitude: 47.398242
+            longitude: 8.546094
+          - latitude: 47.397742
+            longitude: 8.546094
+        
+        # Close the polygon automatically
+        auto_close: true
+      
+      # Circular fence (alternative to polygon)
+      circle_fence:
+        center_latitude: 47.397742
+        center_longitude: 8.545594
+        radius_meters: 100
+        
+      # Cylinder fence (circle + altitude limits)
+      cylinder_fence:
+        center_latitude: 47.397742
+        center_longitude: 8.545594
+        radius_meters: 100
+        min_altitude: 0  # meters AGL
+        max_altitude: 50  # meters AGL
+      
+      # Altitude limits (applies to all fence types)
+      altitude_limits:
+        min_altitude: 0.0  # meters AGL
+        max_altitude: 50.0  # meters AGL
+        enable_floor: true
+        enable_ceiling: true
+      
+      # Fence actions
+      actions:
+        on_breach: "RTL"  # Options: "RTL", "LAND", "HOLD", "ALERT_ONLY"
+        warning_distance: 10.0  # meters from fence
+        warning_action: "ALERT"  # Options: "ALERT", "SLOW_DOWN"
+        
+      # Monitoring
+      check_rate: 10  # Hz
+      consecutive_breaches_required: 3  # Require 3 consecutive breaches before action
+      
+      # Visualization
+      publish_markers: true
+      marker_topic: "/geofence/markers"
+      marker_color:
+        safe: {r: 0.0, g: 1.0, b: 0.0, a: 0.5}
+        warning: {r: 1.0, g: 1.0, b: 0.0, a: 0.7}
+        breach: {r: 1.0, g: 0.0, b: 0.0, a: 0.9}
+      
+      # Multi-vehicle support
+      vehicles:
+        uav:
+          enabled: true
+          namespace: "/uav"
+          gps_topic: "/uav/mavros/global_position/global"
+        ugv:
+          enabled: true
+          namespace: "/ugv"
+          gps_topic: "/ugv/gps/fix"