# geofence_vertices.yaml — GPS polygon safety boundary for outdoor navigation
#
# Format: fence_vertices is a flat list [lat0, lon0, lat1, lon1, ..., latN, lonN]
# Minimum 3 vertex pairs (6 values). Leave empty [] to disable geofence.
#
# ── How to set your fence ────────────────────────────────────────────────────
# 1. Go to https://geojson.io and mark your safe operating area corners
# 2. Replace the example values below with real coordinates
# 3. Reload at runtime: ros2 service call /outdoor/reload_fence std_srvs/srv/Trigger '{}'
#
# ── Unit conversions ─────────────────────────────────────────────────────────
#   d_lat_deg = d_metres / 111320
#   d_lon_deg = d_metres / (111320 * cos(lat_radians))
#
geofence:
  ros__parameters:
    # Empty = geofence inactive (WARNING: no safety boundary without a fence)
    fence_vertices: []
    check_rate_hz:  2.0
    stop_on_exit:   true
    map_frame:      "map"

# ── EXAMPLE (uncomment and edit with real coordinates) ───────────────────────
# geofence:
#   ros__parameters:
#     # SW → SE → NE → NW corners of a ~100m × 80m rectangle
#     fence_vertices:
#       - 37.774900   # SW lat
#       - -122.419400 # SW lon
#       - 37.774900   # SE lat
#       - -122.418500 # SE lon
#       - 37.775800   # NE lat
#       - -122.418500 # NE lon
#       - 37.775800   # NW lat
#       - -122.419400 # NW lon
