forked from rtv/Stage
/
nd.cfg
48 lines (38 loc) · 911 Bytes
/
nd.cfg
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
# Desc: Player sample configuration file for controlling Stage devices
# Author: Richard Vaughan
# Date: 1 December 2004
# CVS: $Id: nd.cfg,v 1.1 2007-04-30 19:51:42 gerkey Exp $
# load the Stage plugin simulation driver
driver
(
name "stage"
provides ["simulation:0"]
plugin "stageplugin"
# load the named file into the simulator
worldfile "simple.world"
)
driver
(
name "stage"
provides ["position2d:0" "laser:0" "sonar:0"]
model "r0"
)
driver
(
name "nd"
provides ["position2d:1"]
requires ["output:::position2d:0" "input:::position2d:0" "laser:0" "sonar:0"]
#sonar_bad_transducers [0 1 2 3 4 5 6 7 11]
max_speed [0.3 30.0]
min_speed [0.1 10.0]
goal_tol [0.3 15.0]
wait_on_stall 1
rotate_stuck_time 5.0
translate_stuck_time 5.0
translate_stuck_dist 0.15
translate_stuck_angle 10.0
avoid_dist 0.4
safety_dist 0.0
laser_buffer 1
sonar_buffer 1
)