Skip to content

HTTPS clone URL

Subversion checkout URL

You can clone with
or
.
Download ZIP
Branch: master
56 lines (41 sloc) 1.19 kB
# simple.world - basic world file example
# Authors: Richard Vaughan
# $Id$
include "pioneer.inc"
include "map.inc"
include "sick.inc"
# time to pause (in GUI mode) or quit (in headless mode (-g)) the simulation
quit_time 3600 # 1 hour of simulated time
paused 1
resolution 0.02
# configure the GUI window
window
(
size [ 635 666 ] # in pixels
scale 64.907 # pixels per meter
center [ 4.743 4.205 ]
rotate [ 0.500 0.500 ]
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 "cave.png"
)
define rob pioneer2dx
(
# pioneer2dx's sonars will be ranger:0 and the laser will be ranger:1
sicklaser( pose [ 0.000 0.000 0.000 0.000 ] )
# demonstrate a plugin controller, implemented in examples/ctrl/wander.cc
# you probably should comment this out when using simple.cfg with Player
ctrl "dw"
# report error-free position in world coordinates
localization "gps"
localization_origin [ 0 0 0 0 ]
velocity_bounds [ 0 1 0 0 0 0 -45 45 ]
acceleration_bounds [ -0.5 0.5 0 0 0 0 -45 45 ]
)
rob( pose [ 2.372 6.622 0.000 41.349 ] )
Jump to Line
Something went wrong with that request. Please try again.