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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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