# Isolated, no-hardware configuration used only by the rostest suite.
autostart: true
control_rate: 30.0
cmd_vel_topic: cmd_vel
odom_topic: odom
lane_valid_topic: line/lane_valid
lookahead_target_topic: line/lookahead_target
sign_direction_topic: sign/direction
sign_confidence_topic: sign/confidence
sign_enable_service: sign/set_enabled
line_enable_service: line/set_enabled
sign_confirmations: 2
sign_topic_timeout: 1.0
minimum_sign_confidence: 0.25
camera_settle_time: 0.05
odom_timeout: 0.5
odom_jump_limit_m: 0.25
maximum_turn_yaw_rad: 1.40
wrong_way_yaw_tolerance_rad: 0.10
straight_yaw_limit_rad: 0.35
maneuver_timeout_scale: 3.0
maneuver_timeout_min: 1.0
transition_stop_time: 0.05
maneuver_linear_speed: 0.05
first_turn_angular_speed: 0.20
second_turn_angular_speed: 0.20
first_left_turn_distance_m: 0.02
first_right_turn_distance_m: 0.02
first_straight_entry_distance_m: 0.02
direct_finish_distance_m: 0.03
straight_to_second_distance_m: 0.03
second_right_turn_distance_m: 0.02
after_second_finish_distance_m: 0.03
use_finish_distance_limits: true
finish_lane_loss_confirm_time: 0.10
completion_announcement_topic: speech/announce
completion_announcement_text: "任务完成"
second_junction_arm_distance_m: 0.02
second_junction_max_distance_m: 0.08
second_junction_lost_frames: 2
second_junction_forward_speed: 0.10
second_junction_forward_duration: 0.05
stop_after_second_maneuver: false
lane_reacquire_timeout: 0.5
lane_stable_frames: 2
target_fresh_timeout: 0.3