Task1/task1/config/task1_scan_points.json

{
  "frame_id": "map",
  "start_pose": {
    "x": 0.0,
    "y": 0.0,
    "yaw": 0.0
  },
  "initial_pose_settle_seconds": 2.0,
  "initial_pose_position_tolerance_m": 0.3,
  "initial_pose_yaw_tolerance_rad": 0.2,
  "move_base_server_timeout_seconds": 10.0,
  "initial_navigation_timeout_seconds": 180.0,
  "scan_total_timeout_seconds": 120.0,
  "scan_window_seconds": 2.0,
  "scan_settle_seconds": 0.5,
  "center_rotation_speed_rad_s": 0.25,
  "center_rotation_yaw_tolerance_rad": 0.08,
  "center_rotation_timeout_seconds": 35.0,
  "points": {
    "wall1_p1": {
      "x": -1.496,
      "y": -0.981,
      "yaw": -3.131
    },
    "center_wall1": {
      "x": -1.46,
      "y": -0.526,
      "yaw": 3.141593
    },
    "center_wall2": {
      "x": -1.46,
      "y": -0.526,
      "yaw": 1.570796
    },
    "center_wall3": {
      "x": -1.46,
      "y": -0.526,
      "yaw": 0.0
    },
    "wall3_p1": {
      "x": -1.401,
      "y": -0.18,
      "yaw": 0.017
    },
    "wall2_p3": {
      "x": -1.065,
      "y": -0.478,
      "yaw": 1.583
    },
    "wall2_p1": {
      "x": -1.916,
      "y": -0.479,
      "yaw": 1.59
    },
    "wall1_p3": {
      "x": -1.533,
      "y": 0.011,
      "yaw": -3.131
    }
  },
  "task2_entry": {
    "x": -1.003,
    "y": -1.24,
    "yaw": -1.591
  },
  "task3_entry": {
    "x": 0.350,
    "y": -2.898,
    "yaw": -1.591
  }
}