schema: unit-compose/v0alpha1
module: navigation-astar
inputs:
  occupancy_grid:
    type: nav.RosOccupancyGrid/v1
units:
  decode:
    type: nav.ros_map_decoder/v1
    config: { max_cells: 1920 }
    inputs: { grid: occupancy_grid }
    outputs: { map: binary_map }
  inflate:
    type: nav.binary_inflation/v1
    config: { radius: 1, max_cells: 1920 }
    inputs: { map: binary_map }
    outputs: { cost_map: cost_map }
  plan:
    type: nav.astar/v1
    config: { max_cells: 1920, max_path: 256, max_expansions: 1920 }
    inputs: { cost_map: cost_map }
    outputs: { path: raw_path }
  smooth:
    type: nav.line_of_sight_smoother/v1
    config: { max_path: 256 }
    inputs: { cost_map: cost_map, path: raw_path }
    outputs: { path: smoothed_path }
outputs:
  binary_map: binary_map
  cost_map: cost_map
  raw_path: raw_path
  path: smoothed_path