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tree: 0f72ec239f
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driver
(
name "stage"
plugin "stageplugin"
provides ["6665:simulation:0"]
worldfile "wavefront.world"
)
#driver
#(
# name "stage"
# provides ["6665:map:0"]
# model "cave"
#)
driver
(
name "mapfile"
provides ["6665:map:0"]
filename "bitmaps/cave.png"
resolution 0.032 # meters per pixel
negate 0
origin [-8 -8 ] # real-world location of the bottom-left-hand corner of the map
)
driver
(
name "stage"
provides ["6665:position2d:0" "6665:laser:0"]
model "r0"
)
driver
(
name "vfh"
provides ["6665:position2d:1"]
requires ["6665:position2d:0" "6665:laser:0"]
distance_epsilon 0.3
angle_epsilon 5
)
#driver
#(
# name "nd"
# provides ["6665:position2d:1"]
# requires ["output::6665:position2d:0" "input::6665:position2d:0" "6665:laser:0"]
#)
#driver
#(
# name "amcl"
# provides ["6665:localize:0" "6665:position2d:2"]
# requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
#)
driver
(
name "wavefront"
provides ["6665:planner:0"]
requires ["output::6665:position2d:1" "input::6665:position2d:0" "6665:map:0"]
safety_dist 0.15
distance_epsilon 0.5
angle_epsilon 10
alwayson 0
)
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