Meili Agent parameters

Setting parameters

Pass parameters as name:=value arguments to the launch command. To set more than one, add all of them to the same command:

ROS 1

roslaunch meili_agent meili_agent.launch traffic_control:=True battery_present:=True

ROS 2

ros2 launch meili_agent meili_agent.launch.py traffic_control:=True battery_present:=True

To keep the values for the next launches, change their default values in the launch file instead: meili_agent.launch in ROS 1, or meili_agent.launch.py in ROS 2 and then rebuild the workspace.

General parameters

Parameter	Default	Description
`publish_frequency`	`1` (Hz)	Frequency at which the robot’s state (location, speed, battery) is published. In ROS 1, the minimum value is 1 Hz. In ROS 2, it is updated automatically when the vehicle’s message frequency is changed in Meili FMS.
`battery_present`	`False`	`True` streams the robot’s battery values to Meili FMS. Set it only if battery values are available.
`lipo_cells`	`0`	Number of cells of a LiPo battery. A value greater than `0` indicates that the battery is a LiPo battery, and the battery level is calculated from its voltage.
`path_planning`	`False` (ROS 1), `True` (ROS 2)	For tasks with multiple points. `True`: Meili FMS sends the set of waypoints of the path shown in the map editor, calculated by its path planner. `False`: Meili FMS only sends the points configured in the map editor.
`traffic_control`	`False`	`True` streams the real-time paths calculated by the robot to Meili FMS and applies traffic control algorithms when more than one task is running.
`offline`	`False`	`True` makes the agent periodically check the Wi-Fi connectivity (offline mode).

ROS 2 only parameters

Parameter	Default	Description
`navigate_through_poses`	`False`	Navigation action used for tasks with waypoints. `True`: the agent uses the nav2 `NavigateThroughPoses` action. `False`: the agent uses the nav2 `FollowWaypoints` action.
`speed_control_mode`	`parameter`	How the agent changes the robot’s speed (waypoint speed limits, pause and resume, traffic control). `parameter`: sets `FollowPath.max_vel_x` and `FollowPath.max_vel_theta` of the nav2 `controller_server`. `topic`: publishes a `nav2_msgs/SpeedLimit` message on the robot’s `speed_limit` topic. Use `topic` when your nav2 stack is configured to apply speed limits from that topic.
`initial_max_vel_x`	`-1.0`	Maximum linear speed applied when the agent starts. With `-1.0`, the value configured in the nav2 `controller_server` is kept. Set it together with `initial_max_vel_theta` (both `>= 0`) to override it.
`initial_max_vel_theta`	`-1.0`	Maximum angular speed applied when the agent starts. With `-1.0`, the value configured in the nav2 `controller_server` is kept. Set it together with `initial_max_vel_x` (both `>= 0`) to override it.
`multifloor`	`False`	`True` adds the robot’s `map_id` to the location sent to Meili FMS, so Meili FMS knows on which map or floor the robot is. Use it in sites with several levels. The `map_id` is updated from Meili FMS when an initial pose or a new map id is sent to the robot. Until then, the agent sends `map`. In fleets with several levels, every map id used by the robot, including `map`, must be defined in the vehicle’s map look up table in Meili FMS, otherwise the robot’s state is rejected.
`v2`	`True`	Enables tasks sent by Meili FMS (task v2).
`logging`	(empty)	ROS log level (`debug`, `info`, `warning`, `error` or `fatal`) whose messages are sent to Meili FMS as vehicle notifications. When empty, no messages are sent.

For example, to start the robot with lower maximum speeds:

ros2 launch meili_agent meili_agent.launch.py initial_max_vel_x:=0.35 initial_max_vel_theta:=1.2

Waypoint speed limits

Paths sent by Meili FMS can define a speed limit for each segment. The speed defined at waypoint N applies from waypoint N to waypoint N+1:

A positive speed limits the robot to that speed, in m/s.
A speed of -1 removes the limit. In parameter mode, the speeds used at startup are restored. In topic mode, a speed_limit of 0.0 (no limit) is published.

When a task is paused, or the robot is stopped by traffic control, the robot stays stopped even if it reaches a new waypoint. The speed of the current segment is applied when the task is resumed or the collision is cleared.

ROS 1 only parameters

Parameter	Default	Description
`topic_streaming_mode`	`FILTERING`	`FILTERING` streams topics at the publishing frequency. `REAL_TIME` streams topics in real time.
`vel_mux_flag`	`False`	How Meili traffic control stops the robot. `True`: the twist_mux package multiplexes velocity commands from the navigation stack and from Meili traffic control, giving priority to Meili. `False`: both publish on the same topic, and Meili publishes at a higher rate to take priority.

vel_mux_flag:=True requires the twist multiplexer package. Install it by adding true after the PIN when running the installation script. See Installation.

The following parameters are used when the robot navigates with the ROS Navigation Stack:

Parameter	Default	Description
`xy_intermediate_wayp_tol`	`0.5` (m)	Tolerance in x and y to reach an intermediate waypoint.
`xy_final_wayp_tol`	`0.15` (m)	Tolerance in x and y to reach the final waypoint.
`yaw_intermediate_wayp_tol`	`6.2` (rad)	Yaw tolerance to reach an intermediate waypoint.
`yaw_final_wayp_tol`	`0.1` (rad)	Yaw tolerance to reach the final waypoint.