# Task 2 begins here after task 1 has completed.
frame_id: map
start_pose:
  x: -1.003
  y: -1.240
  yaw: -1.591

# The navigator tries these exactly in order and stops at the first success.
candidate_goals:
  - x: -1.662
    y: -2.971
    yaw: -3.136
  - x: -1.675
    y: -2.264
    yaw: -3.132
  - x: -1.703
    y: -1.617
    yaw: -3.117

initial_pose_confirmation_timeout_seconds: 2.0
initial_pose_position_tolerance_m: 0.30
initial_pose_yaw_tolerance_rad: 0.20

move_base_server_timeout_seconds: 10.0
goal_timeout_seconds: 120.0