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# simple_pioneer.world - basic world file example using pretty models
# Authors: Richard Vaughan
# $Id$
include "pioneer.inc"
include "map.inc"
include "sick.inc"
include "walle.inc"
paused 1
# configure the GUI window
window
(
size [ 1124 490 ] # in pixels
scale 268.660 # pixels per meter
center [ -2.883 -4.846 ]
rotate [ 67.500 -32.500 ]
show_data 1 # 1=on 0=off
)
# load an environment bitmap
floorplan
(
name "cave"
size [16.000 16.000 0.800]
pose [0.000 0.000 0.000 0.000]
bitmap "bitmaps/cave.png"
)
fancypioneer2dx
(
# can refer to the robot by this name
name "r0"
pose [ -2.228 -5.262 0.000 -151.707 ]
# pioneer2dx's sonars will be ranger:0 and the laser will be ranger:1
fancysicklaser( pose [ 0.000 0.000 0.000 0.000 ] )
# demonstrate a plugin controller, implemented in examples/ctrl/wander.cc
ctrl "wander"
# report error-free position in world coordinates
localization "gps"
localization_origin [ 0 0 0 0 ]
)
walle
(
name "walle"
pose [ -2.756 -4.489 0.000 -146.104 ]
)
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