mission_config.yaml

/mission_metrics:
  ros__parameters:
    result_path: "~/suave/results" #Path to save results
    water_visibiity_threshold: [3.25, 2.25, 1.25]
    expected_altitude: [3.0, 2.0, 1.0]
    battery_limit: 0.25

/mission_node:
  ros__parameters:
    time_limit: 300 #Time limit for a time_constrained mission
    f_generate_search_path_mode: "fd_spiral_low" #Default mode for f_generate_search_path when no manager is used
    f_follow_pipeline_mode: "fd_follow_pipeline" #Default mode for f_follow_pipeline when no manager is used

/water_visibility_observer_node:
  ros__parameters:
    qa_publishing_period: 1.0
    water_visibility_period: 80 #Water visibility period in seconds
    water_visibility_min: 1.25 #Minimum value for water visibility
    water_visibility_max: 3.75 #Maximum value for water visibility
    water_visibility_sec_shift: 0.0 #Water visibility seconds shift to left

/thruster_monitor:
  ros__parameters:
    thruster_events: # Thruster events, format: (thruster number (1 to 6), failure or recovery, delta time in seconds(from the last event))
    - (1,failure,35)

/task_bridge:
  ros__parameters:
    adapt_period: 30 #Period to perform random adaptation in seconds