auv_control::WorldToAligned.yml

--- name:default
# Indicates how the angular velocity is being represented (true: euler-rate or
# false: axis-angle). This is NOT used for position control domain.
ang_vel_euler_rate: false
# This property defines which parts of the command input is expected to be
# set once we merged all the declared input ports.
expected_inputs:
  linear:
  - true
  - true
  - true
  angular:
  - true
  - true
  - true
# If true, the component will send a zero command before getting into an
# exception state. Otherwise, it will not do anything
keep_position_on_exception: false
# If true write NaN on all axis, in keep position case
nan_on_keep_position: false
# The domain of what we are converting (true:position or false:velocity or
# efforts)
position_control: false
# This property defines the safty behavior ath the merging of the input-ports.
# If the property is on true (default) the merged command need to be like in
# the expected_inputs property defined. Else the expected_inputs are ignored
# while the merged comand are unic.
safe_mode: true
# This property defines the timeout for the cascade input port in seconds. 0
# means that the timeout would be ignored.
timeout_cascade:
    microseconds: 1000000
# This property defines the timeout for the cmd_in input port in seconds. 0
# means that the timeout would be ignored.
timeout_in:
    microseconds: 1000000