# The task launch is started only after navigation has stopped at the sign
# recognition point and every other /cmd_vel source has released control.
autostart: true
control_rate: 20.0

cmd_vel_topic: /cmd_vel
odom_topic: /odom
lane_valid_topic: /line_follow_debug/lane_valid
lookahead_target_topic: /line_follow_debug/lookahead_target
sign_direction_topic: /traffic_sign/direction
sign_confidence_topic: /traffic_sign/confidence
sign_enable_service: /traffic_sign_recognition/set_enabled
line_enable_service: /line_follow_control/set_enabled

# A stable result from the recognition node is confirmed twice here before it
# is locked for the rest of the task. STOP/NONE keep the vehicle stationary.
sign_confirmations: 2
sign_topic_timeout: 3.0
minimum_sign_confidence: 0.25
camera_settle_time: 2.0

# Odometry and action safety.
odom_timeout: 0.5
odom_jump_limit_m: 0.25
# Deliberately above a nominal 90-degree turn: yaw is only an over-turn guard;
# calibrated odometry path length remains the maneuver completion condition.
maximum_turn_yaw_rad: 2.20
wrong_way_yaw_tolerance_rad: 0.10
straight_yaw_limit_rad: 0.35
maneuver_timeout_scale: 2.0
maneuver_timeout_min: 3.0
transition_stop_time: 0.30

# Real-vehicle junction maneuver values. 0.10 m/s forward with 0.20 rad/s
# turning was verified to keep both sides of the drivetrain moving.
maneuver_linear_speed: 0.10
first_turn_angular_speed: 0.20
second_turn_angular_speed: 0.20

# REQUIRED CALIBRATION VALUES. The state machine refuses to move while any
# value is zero or negative. Fill these using route_distance_calibrator.py.
first_left_turn_distance_m: 0.5149
first_right_turn_distance_m: 0.5274
first_straight_entry_distance_m: 0.3584
direct_finish_distance_m: 2.5997
straight_to_second_distance_m: 0.6053
second_right_turn_distance_m: 0.35
after_second_finish_distance_m: 2.1104

# The finish segments do not use their old odometry distances. Once LEFT/RIGHT
# has entered FOLLOW_DIRECT_FINISH, or STRAIGHT has completed the second fixed
# right turn and entered FOLLOW_AFTER_SECOND, a continuous total loss of lane
# boundaries is treated as the endpoint. The controller stops immediately and
# confirms the loss before publishing FINISHED.
use_finish_distance_limits: false
finish_lane_loss_confirm_time: 1.0

# Reuse the speech_command node that is already running for task 1. This task
# never launches a second speech node and sends this phrase exactly once.
completion_announcement_topic: /speech_command/announce
completion_announcement_text: "任务完成"

# On the straight route, odometry no longer directly starts the second turn.
# It only arms a lane-loss trigger near the measured 0.6053 m junction. Three
# consecutive invalid-lane control cycles then start the fixed right maneuver.
# Early lane loss uses ordinary recovery; passing the maximum without lane
# loss stops in FAULT instead of driving indefinitely.
second_junction_arm_distance_m: 0.45
second_junction_max_distance_m: 0.85
second_junction_lost_frames: 3

# After confirmed lane loss at the second junction, move farther into the
# junction before starting the fixed right turn.
second_junction_forward_speed: 0.10
second_junction_forward_duration: 3.0

# Keep false for the complete route: reacquire the lane after the calibrated
# second right maneuver and continue with FOLLOW_AFTER_SECOND.
stop_after_second_maneuver: false

# line_follow_debug.py keeps lane_valid=true for up to 8.0 s while continuously
# inferring the centre from one remaining boundary. If it finally publishes
# false, stop and wait in place for a fresh target; never reverse or scan.
lane_reacquire_timeout: 2.0
lane_stable_frames: 5
target_fresh_timeout: 0.5