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# Desc: Player sample configuration file for controlling Stage devices
# Author: Richard Vaughan
# Date: 1 December 2004
# CVS: $Id: vfh.cfg,v 1.2 2005-02-07 19:16:50 gerkey Exp $
# load the Stage plugin simulation driver
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstage"
# load the named file into the simulator
worldfile "simple.world"
)
driver
(
name "stage"
provides ["position:0" "laser:0"]
model "robot"
#alwayson 1
)
driver
(
name "vfh"
provides ["position:1"]
requires ["position:0" "laser:0"]
cell_size 0.1
window_diameter 61
sector_angle 1
safety_dist 0.4
max_speed 0.3
max_turnrate 50
free_space_cutoff 5500000.0
weight_desired_dir 5.0
weight_current_dir 3.0
)
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