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# FASR demo world
# Authors: Richard Vaughan
# $Id: fasr.world,v 1.4 2008-04-01 23:57:41 rtv Exp $

include "pioneer.inc"
include "map.inc"
include "sick.inc"

speedup 10.000
paused 1

# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
quit_time 3600 # 1 hour of simulated time
#quit_time 1800 # hour of simulated time

resolution 0.02

threads 8

# configure the GUI window
window
(
  size [ 683.000 713.000 ]

  center [ 0.207 -1.094 ]
  rotate [ 0 0 ]
  scale 33.591
  
  show_data 1
  show_flags 1

  # interval 50
)

# load an environment bitmap
floorplan
(
  name "cave"
  pose [0 0 0 0]
  size [16.000 16.000 0.600]
  bitmap "bitmaps/cave.png"
)

zone
(
  size [ 2.000 2.000 0 ]
  color "green"
  pose [ -7.000 -7.000 0 0 ]
  name "source"
  ctrl "source 100 1"
)

zone
(
  size [ 2.000 2.000 0 ]
  color "red"
  pose [ 7.000 7.000 0 0 ]
  name "sink"
  ctrl "sink"
)


define charging_bump model
(
  pose [0.240 0 -0.100 0 ]
  size [0.120 0.050 0.100]
  take_watts 2000.0
  color "orange"
  obstacle_return 0
)

define charge_station model
(
  size [ 0.100 0.300 0.100 ]
  color "purple"
  
  # side blocks to restrict view angle
  model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
  model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )

  # the charging block
  model(
    pose [ 0.010 0 0 0 ]
    color "yellow"
    size [ 0.050 0.200 0.100 ]
    joules -1 # provides infinite energy
    give_watts 2000
    fiducial_return 2 # look for this in the fiducial senso

alwayson 1 # so we give charge without any explicit subscriber
   )

)

charge_station( pose [ 7.908 -2.510 0 0 ] )
charge_station( pose [ 7.920 -3.847 0 0 ] )
charge_station( pose [ 7.449 -4.974 0 -40.107 ] )
charge_station( pose [ 8.680 -1.432 0 31.513 ] )
charge_station( pose [ 5.162 -0.814 0 88.809 ] )

charge_station( pose [ 3.927 -0.693 0 88.808 ] )
charge_station( pose [ 6.427 -0.964 0 74.484 ] )
#charge_station( pose [ 4.964 -0.752 0 88.808 ] )
#charge_station( pose [ 3.832 -0.704 0 91.673 ] )
#charge_station( pose [ 7.949 -4.019 0 0 ] )

define autorob pioneer2dx
(
 sicklaser( samples 64 range_max 5 laser_return 2 watts 30 )
 ctrl "fasr"
 kjoules 400
 joules_capacity 400000
 fiducial_return 0
 charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )

 # small speed optimization
 # trail_length 0
)

autorob( pose [5.880 4.141 0 152.684] kjoules 300 name "r0" )
autorob( pose [4.542 5.641 0 125.831] kjoules 100 name "r1" )
autorob( pose [5.043 3.459 0 174.453] kjoules 200 )
autorob( pose [5.173 4.759 0 -117.456] kjoules 400 )
autorob( pose [3.230 7.036 0 44.991] kjoules 100 )

autorob( pose [3.757 6.187 0 35.145] kjoules 200 )
autorob( pose [2.688 4.115 0 -143.181] kjoules 300 )
autorob( pose [3.975 7.410 0 0] kjoules 400 )
autorob( pose [6.796 4.223 0 -89.994] kjoules 100 )
autorob( pose [3.084 5.145 0 90.003] kjoules 200 )

autorob( pose [3.907 4.602 0 -1.811] )
autorob( pose [2.558 6.649 0 -116.317] )
autorob( pose [7.462 3.892 0 -31.440] )
autorob( pose [5.944 6.951 0 2.937] )
autorob( pose [6.405 5.291 0 -103.060] )

autorob( pose [5.974 5.725 0 -103.060] )
autorob( pose [2.479 5.713 0 53.540] )
autorob( pose [7.503 6.594 0 2.937] )
autorob( pose [6.959 3.268 0 34.450] )
autorob( pose [4.617 6.811 0 134.717] )

#autorob( pose [6.545 7.366 0 2.937] )
#autorob( pose [7.237 7.533 0 34.450] )
#autorob( pose [3.875 6.533 0 134.717] )
#autorob( pose [3.944 4.674 0 -103.060] )
#autorob( pose [4.776 5.792 0 -103.060] )

#autorob( pose [3.212 3.779 0 -103.060] )
#autorob( pose [2.982 6.577 0 -103.060] )
#autorob( pose [3.189 5.168 0 -103.060] )
#autorob( pose [2.027 6.472 0 -103.060] )
#autorob( pose [3.897 5.537 0 -103.060] )

#autorob( pose [4.974 4.800 0 -103.060] )
#autorob( pose [2.225 7.350 0 -103.060] )
#autorob( pose [5.683 4.431 0 -103.060] )
#autorob( pose [2.055 2.901 0 -103.060] )
#autorob( pose [1.498 7.310 0 -103.060] )

#autorob( pose [0.366 6.989 0 -103.060] )
#autorob( pose [5.215 7.601 0 -103.060] )
#autorob( pose [6.714 6.392 0 -103.060] )
#autorob( pose [7.418 5.581 0 -103.060] )
#autorob( pose [2.523 4.878 0 -103.060] )
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