Update of /cvsroot/playerstage/code/player/config
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9485/config
Modified Files:
Tag: release-2-0-patches
joystick.cfg obot.cfg pioneer.cfg wbr914.cfg
Added Files:
Tag: release-2-0-patches
pointcloud3d.cfg
Log Message:
merged many changes from HEAD
Index: wbr914.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/player/config/wbr914.cfg,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** wbr914.cfg 9 Jun 2006 01:17:52 -0000 1.1.2.2
--- wbr914.cfg 22 Sep 2006 23:58:34 -0000 1.1.2.3
***************
*** 2,6 ****
(
name "wbr914"
! provides ["position2d:0" "ir:0"]
port "/dev/ttyUSB0"
)
--- 2,6 ----
(
name "wbr914"
! provides ["position2d:0" "ir:0" "aio:0" "dio:0"]
port "/dev/ttyUSB0"
)
Index: obot.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/player/config/obot.cfg,v
retrieving revision 1.7
retrieving revision 1.7.6.1
diff -C2 -d -r1.7 -r1.7.6.1
*** obot.cfg 2 Mar 2005 18:28:26 -0000 1.7
--- obot.cfg 22 Sep 2006 23:58:34 -0000 1.7.6.1
***************
*** 3,7 ****
(
name "obot"
! provides ["position:0"]
port "/dev/ttyS0"
)
--- 3,7 ----
(
name "obot"
! provides ["position2d:0" "power:0"]
port "/dev/ttyS0"
)
***************
*** 10,105 ****
name "sicklms200"
provides ["laser:0"]
! pose [0.8 0.0 0.0]
port "/dev/ttyUSB0"
invert 1
! highspeed 0
! rate 38400
! #alwayson 1
! )
! driver
! (
! name "mapfile"
! provides ["map:0"]
! filename "gates-dorothy1-cropped-clean-invert.pnm"
! resolution 0.1
! negate 1
! )
! driver
! (
! name "mapcspace"
! provides ["6665:map:1"]
! requires ["6665:map:0"]
! robot_shape "circle"
! robot_radius 0.25
! )
! driver
! (
! name "mapscale"
! provides ["6665:map:2"]
! requires ["6665:map:1"]
! resolution 0.3
alwayson 1
)
-
driver
(
! name "amcl"
! provides ["localize:0" "position:2"]
!
! requires ["odometry::position:0" "laser:0" "laser::map:0"]
!
! init_pose [-20 9 0]
! init_pose_var [1 1 180]
!
! pf_max_samples 2000
! pf_min_samples 100
!
! update_thresh [0.1 3]
!
! odom_drift[0] [0.3 0.0 0.0]
! odom_drift[1] [0.0 0.2 0.0]
! odom_drift[2] [0.2 0.0 0.2]
!
! #enable_gui 1
! #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 0.25
! max_speed 0.5
! min_turnrate 10
! max_turnrate 100
! free_space_cutoff 1000000.0
! weight_desired_dir 5.0
! weight_current_dir 3.0
! distance_epsilon 0.35
angle_epsilon 5
)
! driver
! (
! name "wavefront"
! provides ["planner:0"]
! requires ["position:1" "localize:0" "map:0"]
! safety_dist 0.25
! max_radius 1.0
! dist_penalty 1.0
! distance_epsilon 0.5
! angle_epsilon 10
! replan_min_time 2.0
! replan_dist_thresh 2.0
! alwayson 1
! )
! driver
! (
! name "writelog"
! provides ["log:0"]
! requires ["position:2"]
! autorecord 0
! alwayson 0
! )
--- 10,116 ----
name "sicklms200"
provides ["laser:0"]
! pose [0.08 0.0 0.0]
port "/dev/ttyUSB0"
invert 1
! connect_rate 38400
! transfer_rate 38400
alwayson 1
)
driver
(
! name "vfh"
! provides ["position2d:1"]
! requires ["position2d:0" "laser:0"]
! safety_dist_0ms 0.1
! safety_dist_1ms 0.3
! distance_epsilon 0.3
angle_epsilon 5
)
!
! #driver
! #(
! # name "mapfile"
! # provides ["map:0"]
! # filename "gates-dorothy1-cropped-clean-invert.pnm"
! # resolution 0.1
! # negate 1
! #)
! #driver
! #(
! # name "mapcspace"
! # provides ["6665:map:1"]
! # requires ["6665:map:0"]
! # robot_shape "circle"
! # robot_radius 0.25
! #)
! #driver
! #(
! # name "mapscale"
! # provides ["6665:map:2"]
! # requires ["6665:map:1"]
! # resolution 0.3
! # alwayson 1
! #)
! #
! #driver
! #(
! # name "amcl"
! # provides ["localize:0" "position:2"]
! #
! # requires ["odometry::position:0" "laser:0" "laser::map:0"]
! #
! # init_pose [-20 9 0]
! # init_pose_var [1 1 180]
! #
! # pf_max_samples 2000
! # pf_min_samples 100
! #
! # update_thresh [0.1 3]
! #
! # odom_drift[0] [0.3 0.0 0.0]
! # odom_drift[1] [0.0 0.2 0.0]
! # odom_drift[2] [0.2 0.0 0.2]
! #
! # #enable_gui 1
! # #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 0.25
! # max_speed 0.5
! # min_turnrate 10
! # max_turnrate 100
! # free_space_cutoff 1000000.0
! # weight_desired_dir 5.0
! # weight_current_dir 3.0
! # distance_epsilon 0.35
! # angle_epsilon 5
! #)
! #driver
! #(
! # name "wavefront"
! # provides ["planner:0"]
! # requires ["position:1" "localize:0" "map:0"]
! # safety_dist 0.25
! # max_radius 1.0
! # dist_penalty 1.0
! # distance_epsilon 0.5
! # angle_epsilon 10
! # replan_min_time 2.0
! # replan_dist_thresh 2.0
! # alwayson 1
! #)
! #driver
! #(
! # name "writelog"
! # provides ["log:0"]
! # requires ["position:2"]
! # autorecord 0
! # alwayson 0
! #)
--- NEW FILE: pointcloud3d.cfg ---
# PointCloud3D Interface example
# Radu Bogdan Rusu ([EMAIL PROTECTED]) - 2006
driver (
name "laserptzcloud"
requires ["laser:0" "ptz:0"]
provides ["pointcloud3d:0"]
max_distance 4.094
max_scans 10
)
Index: pioneer.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/player/config/pioneer.cfg,v
retrieving revision 1.6
retrieving revision 1.6.2.1
diff -C2 -d -r1.6 -r1.6.2.1
*** pioneer.cfg 2 Mar 2006 17:42:57 -0000 1.6
--- pioneer.cfg 22 Sep 2006 23:58:34 -0000 1.6.2.1
***************
*** 1,5 ****
# Desc: Configuration for a Pioneer robot and a SICK laser.
! # The p2os driver is used for all Pioneer robots. In addition to the
position
# interface, sonar, and power (battery voltage) interfaces, it also
# provides interfaces for blobfinder via attached CMUcam, bumpers, and
--- 1,5 ----
# Desc: Configuration for a Pioneer robot and a SICK laser.
! # The p2os driver is used for all Pioneer robots. In addition to the
position
# interface, sonar, and power (battery voltage) interfaces, it also
# provides interfaces for blobfinder via attached CMUcam, bumpers, and
***************
*** 18,22 ****
"power:0"
"bumper:0"
! "gripper:0"
"blobfinder:0"
"sound:0"
--- 18,22 ----
"power:0"
"bumper:0"
! "gripper:::gripper:0"
"blobfinder:0"
"sound:0"
Index: joystick.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/player/config/joystick.cfg,v
retrieving revision 1.1
retrieving revision 1.1.6.1
diff -C2 -d -r1.1 -r1.1.6.1
*** joystick.cfg 2 May 2005 21:52:30 -0000 1.1
--- joystick.cfg 22 Sep 2006 23:58:34 -0000 1.1.6.1
***************
*** 3,8 ****
(
name "p2os"
! provides ["odometry::position:0"]
! port "/dev/usb/tts/0"
)
--- 3,8 ----
(
name "p2os"
! provides ["odometry:::position2d:0"]
! port "/dev/ttyS0"
)
***************
*** 12,22 ****
(
name "linuxjoystick"
! provides ["joystick:0" "position:1"]
! requires ["odometry::position:0"]
max_yawspeed 50
max_xspeed 0.5
! axes [3 4]
axis_minima [5000 5000]
! port "/dev/js0"
alwayson 1
)
--- 12,22 ----
(
name "linuxjoystick"
! provides ["joystick:0" "position2d:1"]
! requires ["position2d:0"]
max_yawspeed 50
max_xspeed 0.5
! axes [2 3]
axis_minima [5000 5000]
! port "/dev/input/js0"
alwayson 1
)
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