150 lines
5.5 KiB
JSON
150 lines
5.5 KiB
JSON
{
|
|
"plan_id": "9f743b03-8ba7-4a06-9260-337463887fc2",
|
|
"root": {
|
|
"children": [
|
|
{
|
|
"children": [
|
|
{
|
|
"name": "preflight_checks",
|
|
"params": {
|
|
"check_level": "comprehensive"
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"name": "takeoff",
|
|
"params": {
|
|
"altitude": 2
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"name": "fly_to_waypoint",
|
|
"params": {
|
|
"acceptance_radius": 2,
|
|
"x": 5,
|
|
"y": 3,
|
|
"z": 2
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"children": [
|
|
{
|
|
"children": [
|
|
{
|
|
"name": "loiter",
|
|
"params": {
|
|
"duration": 10
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"name": "object_detect",
|
|
"params": {
|
|
"count": 1,
|
|
"description": "学生",
|
|
"target_class": "person"
|
|
},
|
|
"type": "action"
|
|
}
|
|
],
|
|
"name": "DirectDetectionSequence",
|
|
"type": "Sequence"
|
|
},
|
|
{
|
|
"name": "search_pattern",
|
|
"params": {
|
|
"center_x": 5,
|
|
"center_y": 3,
|
|
"center_z": 2,
|
|
"count": 1,
|
|
"description": "学生",
|
|
"pattern_type": "spiral",
|
|
"radius": 50,
|
|
"target_class": "person"
|
|
},
|
|
"type": "action"
|
|
}
|
|
],
|
|
"name": "TargetAcquisitionSelector",
|
|
"params": {
|
|
"memory": true
|
|
},
|
|
"type": "Selector"
|
|
},
|
|
{
|
|
"name": "track_object",
|
|
"params": {
|
|
"description": "学生",
|
|
"min_confidence": 0.7,
|
|
"safe_distance": 10,
|
|
"target_class": "person",
|
|
"track_time": 20
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"name": "land",
|
|
"params": {
|
|
"mode": "home"
|
|
},
|
|
"type": "action"
|
|
}
|
|
],
|
|
"name": "MainTrackingTask",
|
|
"type": "Sequence"
|
|
},
|
|
{
|
|
"children": [
|
|
{
|
|
"name": "battery_above",
|
|
"params": {
|
|
"threshold": 0.35
|
|
},
|
|
"type": "condition"
|
|
},
|
|
{
|
|
"name": "gps_status",
|
|
"params": {
|
|
"min_satellites": 8
|
|
},
|
|
"type": "condition"
|
|
},
|
|
{
|
|
"children": [
|
|
{
|
|
"name": "emergency_return",
|
|
"params": {
|
|
"reason": "safety_breach"
|
|
},
|
|
"type": "action"
|
|
},
|
|
{
|
|
"name": "land",
|
|
"params": {
|
|
"mode": "home"
|
|
},
|
|
"type": "action"
|
|
}
|
|
],
|
|
"name": "EmergencyHandler",
|
|
"type": "Sequence"
|
|
}
|
|
],
|
|
"name": "SafetyMonitor",
|
|
"params": {
|
|
"memory": true
|
|
},
|
|
"type": "Selector"
|
|
}
|
|
],
|
|
"name": "TrackingMission",
|
|
"params": {
|
|
"policy": "all_success"
|
|
},
|
|
"type": "Parallel"
|
|
},
|
|
"visualization_url": "/static/py_tree.png"
|
|
}
|