Skip to content

HTTPS clone URL

Subversion checkout URL

You can clone with
or
.
Download ZIP
Browse files

updating autolab example

  • Loading branch information...
commit 8a62215f51b1216f7bfa8e2a2b731b4eb52f045f 1 parent 90feb73
@rtv authored
View
67 worlds/autolab.cfg
@@ -13,57 +13,32 @@ driver(
worldfile "autolab.world"
)
-driver(
- name "stage"
- model "lab"
- provides [ "map:0" ]
-)
-
-driver(
- name "stage"
- provides [ "6665:ptz:0" "6665:gripper:0" "6665:position2d:0" "6665:laser:0" "6665:blobfinder:0" "6665:fiducial:0" "6665:sonar:0" "6665:graphics2d:0" ]
- model "mother0"
-)
-
-# extend mother0 with VFH
-driver( name "vfh" requires ["6665:laser:0" "6665:position2d:0"] provides ["6665:position2d:1"] )
-
-driver(
- name "stage"
- provides [ "6666:ptz:0" "6666:gripper:0" "6666:position2d:0" "6666:laser:0" "6666:blobfinder:0" "6666:fiducial:0" "6666:sonar:0" "6666:graphics2d:0" ]
- model "mother1"
-)
-
-# extend mother1 with VFH
-driver( name "vfh" requires ["6666:laser:0" "6666:position2d:0"] provides ["6666:position2d:1"] )
-
-
# chatterboxes
# all the red chatterboxes are on port 7000
-driver( name "stage" provides ["7000:sonar:0" "7000:sonar:1" "7000:position2d:0" ] model "cbr0" )
-driver( name "stage" provides ["7001:sonar:0" "7001:sonar:1 ""7001:position2d:0" ] model "cbr1" )
-driver( name "stage" provides ["7002:sonar:0" "7002:sonar:1" "7002:position2d:0" ] model "cbr2" )
-driver( name "stage" provides ["7003:sonar:0" "7003:sonar:1" "7003:position2d:0" ] model "cbr3" )
-driver( name "stage" provides ["7004:sonar:0" "7004:sonar:1" "7004:position2d:0" ] model "cbr4" )
-driver( name "stage" provides ["7005:sonar:0" "7005:sonar:1" "7005:position2d:0" ] model "cbr4" )
-driver( name "stage" provides ["7006:sonar:0" "7006:sonar:1" "7006:position2d:0" ] model "cbr4" )
-driver( name "stage" provides ["7007:sonar:0" "7007:sonar:1" "7007:position2d:0" ] model "cbr4" )
-driver( name "stage" provides ["7008:sonar:0" "7008:sonar:1" "7008:position2d:0" ] model "cbr4" )
-driver( name "stage" provides ["7009:sonar:0" "7009:sonar:1" "7009:position2d:0" ] model "cbr4" )
+driver( name "stage" provides ["7000:ranger:0" "7000:ranger:1" "7000:position2d:0" ] model "cbr0" )
+driver( name "stage" provides ["7001:ranger:0" "7001:ranger:1 ""7001:position2d:0" ] model "cbr1" )
+driver( name "stage" provides ["7002:ranger:0" "7002:ranger:1" "7002:position2d:0" ] model "cbr2" )
+driver( name "stage" provides ["7003:ranger:0" "7003:ranger:1" "7003:position2d:0" ] model "cbr3" )
+driver( name "stage" provides ["7004:ranger:0" "7004:ranger:1" "7004:position2d:0" ] model "cbr4" )
+driver( name "stage" provides ["7005:ranger:0" "7005:ranger:1" "7005:position2d:0" ] model "cbr4" )
+driver( name "stage" provides ["7006:ranger:0" "7006:ranger:1" "7006:position2d:0" ] model "cbr5" )
+driver( name "stage" provides ["7007:ranger:0" "7007:ranger:1" "7007:position2d:0" ] model "cbr6" )
+driver( name "stage" provides ["7008:ranger:0" "7008:ranger:1" "7008:position2d:0" ] model "cbr7" )
+driver( name "stage" provides ["7009:ranger:0" "7009:ranger:1" "7009:position2d:0" ] model "cbr8" )
# all the blue chatterboxes are on port 7001
-driver( name "stage" provides ["7010:sonar:0" "7010:sonar:1" "7010:position2d:0" ] model "cbb0" )
-driver( name "stage" provides ["7011:sonar:0" "7011:sonar:1" "7011:position2d:0" ] model "cbb1" )
-driver( name "stage" provides ["7012:sonar:0" "7012:sonar:1" "7012:position2d:0" ] model "cbb2" )
-driver( name "stage" provides ["7013:sonar:0" "7013:sonar:1" "7013:position2d:0" ] model "cbb3" )
-driver( name "stage" provides ["7014:sonar:0" "7014:sonar:1" "7014:position2d:0" ] model "cbb4" )
-driver( name "stage" provides ["7015:sonar:0" "7015:sonar:1" "7015:position2d:0" ] model "cbb4" )
-driver( name "stage" provides ["7016:sonar:0" "7016:sonar:1" "7016:position2d:0" ] model "cbb4" )
-driver( name "stage" provides ["7017:sonar:0" "7017:sonar:1" "7017:position2d:0" ] model "cbb4" )
-driver( name "stage" provides ["7018:sonar:0" "7018:sonar:1" "7018:position2d:0" ] model "cbb4" )
-driver( name "stage" provides ["7019:sonar:0" "7019:sonar:1" "7019:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7010:ranger:0" "7010:ranger:1" "7010:position2d:0" ] model "cbb0" )
+driver( name "stage" provides ["7011:ranger:0" "7011:ranger:1" "7011:position2d:0" ] model "cbb1" )
+driver( name "stage" provides ["7012:ranger:0" "7012:ranger:1" "7012:position2d:0" ] model "cbb2" )
+driver( name "stage" provides ["7013:ranger:0" "7013:ranger:1" "7013:position2d:0" ] model "cbb3" )
+driver( name "stage" provides ["7014:ranger:0" "7014:ranger:1" "7014:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7015:ranger:0" "7015:ranger:1" "7015:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7016:ranger:0" "7016:ranger:1" "7016:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7017:ranger:0" "7017:ranger:1" "7017:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7018:ranger:0" "7018:ranger:1" "7018:position2d:0" ] model "cbb4" )
+driver( name "stage" provides ["7019:ranger:0" "7019:ranger:1" "7019:position2d:0" ] model "cbb4" )
# extend mother1 with VFH
-driver( name "vfh" requires ["7000:sonar:1" "7000:position2d:0"] provides ["7000:position2d:1"] )
+driver( name "vfh" requires ["7000:ranger:1" "7000:position2d:0"] provides ["7000:position2d:1"] )
View
79 worlds/autolab.world
@@ -6,7 +6,6 @@
resolution 0.02
interval_sim 100 # milliseconds per update step
-interval_real 0 # real-time milliseconds per update step
include "chatterbox.inc"
include "map.inc"
@@ -23,7 +22,7 @@ window
# load an environment bitmap
floorplan
-(
+(
bitmap "bitmaps/autolab.png"
size [20.000 20.000 0.500]
boundary 1
@@ -35,37 +34,53 @@ define cb laserchatterbox
ctrl "wander"
)
-cb( name "cb00" pose [2.451 7.364 0 0] )
-cb( name "cb01" pose [2.321 6.221 0 -171.141] )
-cb( name "cb02" pose [3.459 5.556 0 -159.523] )
-cb( name "cb03" pose [1.917 5.630 0 -28.297] )
-cb( name "cb04" pose [3.298 4.715 0 -108.654] )
-cb( name "cb05" pose [2.545 4.875 0 -108.654] )
-cb( name "cb06" pose [3.086 6.344 0 -108.654] )
-cb( name "cb07" pose [1.463 6.393 0 -108.654] )
-cb( name "cb08" pose [1.449 4.534 0 -108.654] )
-cb( name "cb09" pose [0.737 5.217 0 -108.654] )
-cb( name "cbr10" pose [1.085 -1.274 0 0] )
-cb( name "cbr11" pose [2.587 -1.832 0 0] )
-cb( name "cbr12" pose [1.812 -0.283 0 -53.892] )
-cb( name "cbr13" pose [3.457 -2.077 0 -28.297] )
-cb( name "cbr14" pose [2.083 -1.401 0 -54.883] )
-cb( name "cbr15" pose [1.814 -2.200 0 -54.883] )
-cb( name "cbr16" pose [1.787 -0.883 0 -54.883] )
-cb( name "cbr17" pose [1.517 -1.703 0 -54.883] )
-cb( name "cbr18" pose [3.125 -1.565 0 -54.883] )
-cb( name "cbr19" pose [4.009 -1.680 0 -54.883] )
+define cbr cb
+(
+ color "red"
+)
+
+define cbb cb
+(
+ color "red"
+)
+
+define cbg cb
+(
+ color "green"
+)
+
+cb( name "cbr0" pose [2.451 7.364 0 0] )
+cb( name "cbr1" pose [2.321 6.221 0 -171.141] )
+cb( name "cbr2" pose [3.459 5.556 0 -159.523] )
+cb( name "cbr3" pose [1.917 5.630 0 -28.297] )
+cb( name "cbr4" pose [3.298 4.715 0 -108.654] )
+cb( name "cbr5" pose [2.545 4.875 0 -108.654] )
+cb( name "cbr6" pose [3.086 6.344 0 -108.654] )
+cb( name "cbr7" pose [1.463 6.393 0 -108.654] )
+cb( name "cbr8" pose [1.449 4.534 0 -108.654] )
+cb( name "cbr9" pose [0.737 5.217 0 -108.654] )
+
+cb( name "cbb0" pose [1.085 -1.274 0 0] )
+cb( name "cbb1" pose [2.587 -1.832 0 0] )
+cb( name "cbb2" pose [1.812 -0.283 0 -53.892] )
+cb( name "cbb3" pose [3.457 -2.077 0 -28.297] )
+cb( name "cbb4" pose [2.083 -1.401 0 -54.883] )
+cb( name "cbb5" pose [1.814 -2.200 0 -54.883] )
+cb( name "cbb6" pose [1.787 -0.883 0 -54.883] )
+cb( name "cbb7" pose [1.517 -1.703 0 -54.883] )
+cb( name "cbb8" pose [3.125 -1.565 0 -54.883] )
+cb( name "cbb9" pose [4.009 -1.680 0 -54.883] )
-cb( name "cbr20" pose [-6.017 0.172 0 -54.883] )
-cb( name "cbr21" pose [-5.875 -0.860 0 -54.883] )
-cb( name "cbr22" pose [-6.766 -1.143 0 -54.883] )
-cb( name "cbr23" pose [-6.625 -0.407 0 -54.883] )
-cb( name "cbr24" pose [-7.021 0.540 0 -54.883] )
-cb( name "cbr25" pose [-7.671 -0.167 0 -54.883] )
-cb( name "cbr26" pose [-7.530 -1.001 0 -54.883] )
-cb( name "cbr27" pose [-7.445 -1.737 0 -54.883] )
-cb( name "cbr28" pose [-8.053 0.625 0 -54.883] )
-cb( name "cbr29" pose [-8.364 -0.450 0 -54.883] )
+cb( name "cbg0" pose [-6.017 0.172 0 -54.883] )
+cb( name "cbg1" pose [-5.875 -0.860 0 -54.883] )
+cb( name "cbg2" pose [-6.766 -1.143 0 -54.883] )
+cb( name "cbg3" pose [-6.625 -0.407 0 -54.883] )
+cb( name "cbg4" pose [-7.021 0.540 0 -54.883] )
+cb( name "cbg5" pose [-7.671 -0.167 0 -54.883] )
+cb( name "cbg6" pose [-7.530 -1.001 0 -54.883] )
+cb( name "cbg7" pose [-7.445 -1.737 0 -54.883] )
+cb( name "cbg8" pose [-8.053 0.625 0 -54.883] )
+cb( name "cbg9" pose [-8.364 -0.450 0 -54.883] )
charger( pose [-4.87 4.5 0 180] )
charger( pose [-4.87 4.0 0 180] )
View
46 worlds/chatterbox.inc
@@ -6,6 +6,20 @@
include "irobot.inc"
include "hokuyo.inc"
+define cbir sensor
+(
+ # define the size of each transducer [xsize ysize zsize] in meters
+ size [0.01 0.03 0.01 ]
+ # define the range bounds [min max]
+ range [0 1.5]
+ # define the angular field of view in degrees
+ fov 20
+ # define the number of samples spread over the fov
+ samples 1
+ # define the color that ranges are drawn in the gui
+ color_rgba [ 0 1 0 0.2 ]
+)
+
define chatterbox create
(
joules 100000 # todo
@@ -21,19 +35,31 @@ define chatterbox create
color "yellow"
obstacle_return 0
)
+
+ model(
+ block( points 6
+ point[0] [-3 -1.5 ]
+ point[1] [-3 0.5 ]
+ point[2] [-2 1.5 ]
+ point[3] [+2 1.5 ]
+ point[4] [+3 0.5 ]
+ point[5] [+3 -1.5 ]
+ z [0 0.05]
+ )
+
+ pose [-0.03 0 0 90]
+ size [0.25 0.20 0.05 ]
+ color "gray"
+ )
ranger
(
- scount 6
- spose[0] [ 0.050 0.000 0] # front forward
- spose[1] [ 0.050 0.050 30] # front left side
- spose[2] [ 0.000 0.050 90] # left side
- spose[3] [-0.050 0.000 180] # back backwards
- spose[4] [ 0.000 -0.050 -90] # right side
- spose[5] [ 0.050 -0.050 -30] # front right side
- sview [ 0 1.5 20 ]
- ssize [0.01 0.03 ]
- watts 10 # todo
+ cbir( pose [ 0.050 0.000 0 0] ) # front forward
+ cbir( pose [ 0.050 0.050 0 30] ) # front left side
+ cbir( pose [ 0.000 0.050 0 90] ) # left side
+ cbir( pose [-0.050 0.000 0 180] ) # back backwards
+ cbir( pose [ 0.000 -0.050 0 -90] ) # right side
+ cbir( pose [ 0.050 -0.050 0 -30] ) # front right side
)
fiducial
View
18 worlds/everything.cfg
@@ -15,52 +15,48 @@ driver
# robot 0
driver(
name "stage"
- provides [ "position2d:0" "sonar:0" "laser:0" "blobfinder:0" "fiducial:0" "gripper:0" ]
+ provides [ "position2d:0" "ranger:0" "ranger:1" "blobfinder:0" "fiducial:0" "gripper:0" ]
model "robot1"
)
-driver( name "vfh" requires [ "position2d:0" "laser:0" ] provides [ "position2d:1" ] )
-
-
-
# robot 1
driver(
name "stage"
- provides ["6666:position2d:0" "6666:sonar:0" "6666:laser:0" "6666:blobfinder:0" "6666:fiducial:0"]
+ provides ["6666:position2d:0" "6666:ranger:0" "6666:ranger:1" "6666:fiducial:0"]
model "p1"
)
# robot 2
driver(
name "stage"
- provides ["6667:position2d:0" "6667:sonar:0" "6667:laser:0" "6667:blobfinder:0" "6667:fiducial:0"]
+ provides ["6667:position2d:0" "6667:ranger:0" "6667:ranger:1" "6667:fiducial:0"]
model "p2"
)
# robot 3
driver(
name "stage"
- provides ["6668:position2d:0" "6668:sonar:0" "6668:laser:0" "6668:blobfinder:0" "6668:fiducial:0"]
+ provides ["6668:position2d:0" "6668:ranger:0" "6668:ranger:1" "6668:fiducial:0"]
model "p3"
)
# robot 4
driver(
name "stage"
- provides ["6669:position2d:0" "6669:sonar:0" "6669:laser:0" "6669:blobfinder:0" "6669:fiducial:0"]
+ provides ["6669:position2d:0" "6669:ranger:0" "6669:ranger:1" "6669:fiducial:0"]
model "p4"
)
# robot 5
driver(
name "stage"
- provides ["6670:position2d:0" "6670:sonar:0" "6670:laser:0" "6670:blobfinder:0" "6670:fiducial:0"]
+ provides ["6670:position2d:0" "6670:ranger:0" "6670:ranger:1" "6670:fiducial:0"]
model "p5"
)
# robot 6
driver(
name "stage"
- provides ["6671:position2d:0" "6671:sonar:0" "6671:laser:0" "6671:blobfinder:0" "6671:fiducial:0"]
+ provides ["6671:position2d:0" "6671:ranger:0" "6671:ranger:1" "6671:fiducial:0"]
model "p6"
)
View
8 worlds/hokuyo.inc
@@ -1,13 +1,13 @@
-define hokuyolaser laser
+define hokuyolaser ranger
(
+ sensor(
# laser-specific properties
# factory settings for LMS200
- range_min 0.0
- range_max 5.0
+ range [ 0.0 5.0 ]
fov 270.0
samples 270
-
+ )
# generic model properties
color "blue"
size [ 0.07 0.07 0.05 ] # dimensions from LMS200 data sheet
Please sign in to comment.
Something went wrong with that request. Please try again.