mapf_params.yaml

# the number of agents
agent_num: 2
# global frame_id in /tf
global_frame_id: map

# if the time limit is exceeded, the algorithm will automatically exit
planner_time_tolerance: 5.0

# mapf_base node will execute mapf algorithm in a loop until the goal is reached, 
# this parameter is better set to be the same as the map resolution
goal_tolerance: 1.0

# the frame_id for each agent in the map
base_frame_id:
  agent_0: rb_0/base_link
  agent_1: rb_1/base_link

# plan_topic will be used to publish gui path in rviz
plan_topic:
  agent_0: rb_0/plan
  agent_1: rb_1/plan


# the following params are for goal_transformer and plan_executor

# for plan_executor
# topic "(arg agent_name)/move_base/goal" will be send to move_base 
agent_name:
  agent_0: rb_0
  agent_1: rb_1

# for goal_transformer
# used to receive goal for each agent
goal_topic:
  agent_0: rb_0/goal
  agent_1: rb_1/goal