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- # 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
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