map_square.cfg

# Desc: Player sample configuration file for controlling Stage devices
# Author:  Richard Vaughan
# Date: 1 December 2004
# CVS: $Id: simple.cfg,v 1.30.2.1 2006/07/13 17:59:10 gerkey Exp $


# load the Stage plugin simulation driver
driver
(		
  name "stage"
  provides ["simulation:0" ]
  plugin "stageplugin"

  # load the named file into the simulator
  worldfile "map_square3.world"	
)

driver
( 
  name "stage"
  provides ["graphics3d:2"]
  model "bk"
)


# Create a Stage driver and attach position2d and laser interfaces 
# to the model "robot"
driver
( 
  name "stage"
  provides ["position2d:0" "laser:0" ]
  model "robot1" 
)

driver
( 
  name "stage"
  provides ["position2d:1" "laser:1" ]
  model "robot2" 
)


driver
( 
  name "stage"
  provides ["position2d:2" "laser:2" ]
  model "robot3" 
)

driver
( 
  name "stage"
  provides ["position2d:3" "laser:3" ]
  model "robot4" 
)

driver
( 
  name "stage"
  provides ["position2d:4" "laser:4" ]
  model "robot5" 
)

driver
( 
  name "stage"
  provides ["position2d:5" "laser:5" ]
  model "robot6" 
)

driver
( 
  name "stage"
  provides ["position2d:6" "laser:6" ]
  model "robot7" 
)

driver
( 
  name "stage"
  provides ["position2d:7" "laser:7" ]
  model "robot8" 
)

driver
( 
  name "stage"
  provides ["position2d:8" "laser:8" ]
  model "robot9" 
)

driver
( 
  name "stage"
  provides ["position2d:9" "laser:9" ]
  model "robot10" 
)

driver
( 
  name "stage"
  provides ["position2d:10" "laser:10" ]
  model "robot11" 
)

driver
( 
  name "stage"
  provides ["position2d:11" "laser:11" ]
  model "robot12" 
)

driver
(
  name "laserrescan"
  requires ["laser:0"]
  provides ["laser:12"]
  port "/dev/ttyS1"
)

driver
(
  name "laserrescan"
  requires ["laser:1"]
  provides ["laser:13"]
  port "/dev/ttyS1"
)

driver
(
  name "laserrescan"
  requires ["laser:2"]
  provides ["laser:14"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:3"]
  provides ["laser:15"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:4"]
  provides ["laser:16"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:5"]
  provides ["laser:17"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:6"]
  provides ["laser:18"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:7"]
  provides ["laser:19"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:8"]
  provides ["laser:20"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:9"]
  provides ["laser:21"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:10"]
  provides ["laser:22"]
  port "/dev/ttyS1"
)
driver
(
  name "laserrescan"
  requires ["laser:11"]
  provides ["laser:23"]
  port "/dev/ttyS1"
)

# Demonstrates use of a Player "abstract driver": one that doesn't
# interface directly with hardware, but only with other Player devices.
# The VFH driver attempts to drive to commanded positions without 
# bumping into obstacles.
 driver 
 (
   name "vfh"
   provides ["position2d:12"]
   requires ["position2d:0" "laser:0"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:13"]
   requires ["position2d:1" "laser:1"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:14"]
   requires ["position2d:2" "laser:2"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:15"]
   requires ["position2d:3" "laser:3"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:16"]
   requires ["position2d:4" "laser:4"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:17"]
   requires ["position2d:5" "laser:5"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:18"]
   requires ["position2d:6" "laser:6"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:19"]
   requires ["position2d:7" "laser:7"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:20"]
   requires ["position2d:8" "laser:8"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:21"]
   requires ["position2d:9" "laser:9"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:22"]
   requires ["position2d:10" "6675:laser:10"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )

 driver 
 (
   name "vfh"
   provides ["position2d:23"]
   requires ["position2d:11" "6676:laser:11"]
   safety_dist "0.20"
   safety_dist_0ms "0.20"
   safety_dist_1ms "0.20"

   distance_epsilon "0.3625"
   angle_epsilon "360"
#   alwayson "1"
 )