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# Desc: Device definitions for Activemedia robots.
# Author: Richard Vaughan, Andrew Howard, Luis Riazuelo
# Date: 10 Jun 2002
# CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $
# The Pioneer2DX sonar array
# prototype for p2dx sonar sensors
define ir sensor
(
# define the size of each transducer [xsize ysize zsize] in meters
size [0.01 0.05 0.01 ]
# define the range bounds [min max]
range [0 5.0]
# define the angular field of view in degrees
fov 60
# define the number of samples spread over the fov
samples 1
)
define ir_high sensor
(
# define the size of each transducer [xsize ysize zsize] in meters
size [0.01 0.05 0.01 ]
# define the range bounds [min max]
range [0 10]
# define the angular field of view in degrees
fov 60
# define the number of samples spread over the fov
samples 1
)
define wall_detector fiducial
(
# fiducial properties
range_min 0.0
range_max 8.0
range_max_id 5.0
fov 3.14159
#ignore_zloc 0
# model properties
size [ 0.1 0.1 0.1 ]
)
define alice_sonar_front ranger
(
# 3 transducers spread about the robot as follows
ir( pose [ 0.5 0 -0.8 60 ] )
ir( pose [ 0.5 0 -0.8 0 ] )
ir( pose [ 0.5 0 -0.8 -60 ] )
)
define alice_sonar_high ranger
(
ir_high( pose [ 0.5 0 0 0 ] )
)
define alice_base position
(
color "red" # Default color.
drive "diff" # Differential steering model.
gui_nose 1 # Draw a nose on the robot so we can see which way it points
obstacle_return 1 # Can hit things.
ranger_return 1 # reflects sonar beams
localization "gps"
localization_origin [0 0 0 0] # Start odometry at (0, 0, 0).
# four DOF kinematics limits
# [ xmin xmax ymin ymax zmin zmax amin amax ]
velocity_bounds [-0.5 0.5 0 0 0 0 -90.0 90.0 ]
acceleration_bounds [-0.5 0.5 0 0 0 0 -90 90.0 ]
)
define alice2d_base_no_sonar alice_base
(
# actual size
#size [0.44 0.38 0.22] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
#origin [-0.04 0 0 0]
# draw a nose on the robot so we can see which way it points
gui_nose 1
# estimated mass in KG
mass 0.3
# differential steering model
#drive "diff"
)
define alice2d_base_front_sonar alice2d_base_no_sonar
(
# use the sonar array defined above with a small vertical offset to
# drop the sensors into the robot body
# alice_sonar_front( pose [0 0 -0.03 0] )
alice_sonar_front()
alice_sonar_high()
wall_detector( pose [0.5 0.25 0 0] )
wall_detector( pose [0.5 -0.25 0 0] )
)
define alice2d alice2d_base_front_sonar
(
# simplified Body shape:
block(
points 4
point[0] [0.5 0.5]
point[1] [0.5 -0.5]
point[2] [-0.5 -0.5]
point[3] [-0.5 0.5 ]
z [0 0.5]
)
)
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