-
Notifications
You must be signed in to change notification settings - Fork 0
/
vacuumbot.inc
103 lines (85 loc) · 1.86 KB
/
vacuumbot.inc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
define finesensor sensor
(
size [0.01 0.05 0.01]
range [0 1.5]
fov 1
samples 1
color_rgba [0 1 0 0.2]
)
define obstaclesensor sensor
(
size [0.01 0.05 0.01]
range [0 4]
fov 10
samples 1
color_rgba [0 1 0 0.2]
)
define exploresensor sensor
(
size [0.01 0.05 0.01]
range [0 10]
fov 1
samples 1
color_rgba [0 1 0 0.2]
)
define robot_ranger ranger
(
finesensor( pose [ -0.2 -0.2 0 180 ] )
finesensor( pose [ -0.2 0.0 0 180 ] )
finesensor( pose [ -0.2 0.2 0 180 ] )
finesensor( pose [ -0.2 -0.2 0 0 ] )
finesensor( pose [ -0.2 0.2 0 0 ] )
finesensor( pose [ -0.15 0.1 0 90 ] )
finesensor( pose [ 0.1 0.1 0 90 ] )
finesensor( pose [ -0.15 -0.1 0 270 ] )
finesensor( pose [ 0.1 -0.1 0 270 ] )
obstaclesensor ( pose [ 0.2 0 0 0 ] )
obstaclesensor ( pose [ 0.1 0.1 0 5 ] )
obstaclesensor ( pose [ 0.1 -0.1 0 355 ] )
exploresensor ( pose [0 0 0 0] )
exploresensor ( pose [0 0 0 90])
exploresensor ( pose [0 0 0 270])
)
# definition of the robot
define robot_base position (
# actual size of robot
size [0.4 0.4 0.1]
# other parameters
origin [0 0 0 0]
gui_nose 1
obstacle_return 1
ranger_return 0.5
blob_return 0
fiducial_return 0
localization "gps"
localization_origin [0 0 0 0]
# choose a differential drive for the robot
drive "diff"
)
define robot_with_sensors robot_base
(
robot_ranger( pose [0 0 0 0] )
)
define vacuumbot robot_with_sensors
(
# define the shape of the robot
block
(
points 4
point[0] [0 0]
point[1] [0.05 0.1]
point[2] [0.05 0.3]
point[3] [0 0.4]
z [0 0.075]
)
block
(
points 5
point[0] [0.05 0.1]
point[1] [0.3 0.1]
point[2] [0.4 0.2]
point[3] [0.3 0.3]
point[4] [0.05 0.3]
z [0 0.2]
)
)