Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18271
Modified Files:
map.inc pioneer.inc sick.inc
Log Message:
added 100-robot swarm demo. Useful for testing
Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** pioneer.inc 27 Feb 2006 21:35:14 -0000 1.27
--- pioneer.inc 11 Sep 2007 01:24:44 -0000 1.28
***************
*** 1,5 ****
# Desc: Device definitions for Activemedia robots.
! # Author: Andrew Howard, Richard Vaughan
# Date: 10 Jun 2002
# CVS: $Id$
--- 1,5 ----
# Desc: Device definitions for Activemedia robots.
! # Author: Richard Vaughan, Andrew Howard
# Date: 10 Jun 2002
# CVS: $Id$
***************
*** 9,31 ****
define p2dx_sonar ranger
(
! scount 16
# define the pose of each transducer [xpos ypos heading]
! spose[0] [ 0.075 0.130 90 ]
! spose[1] [ 0.115 0.115 50 ]
! spose[2] [ 0.150 0.080 30 ]
! spose[3] [ 0.170 0.025 10 ]
! spose[4] [ 0.170 -0.025 -10 ]
! spose[5] [ 0.150 -0.080 -30 ]
! spose[6] [ 0.115 -0.115 -50 ]
! spose[7] [ 0.075 -0.130 -90 ]
! spose[8] [ -0.155 -0.130 -90 ]
! spose[9] [ -0.195 -0.115 -130 ]
! spose[10] [ -0.230 -0.080 -150 ]
! spose[11] [ -0.250 -0.025 -170 ]
! spose[12] [ -0.250 0.025 170 ]
! spose[13] [ -0.230 0.080 150 ]
! spose[14] [ -0.195 0.115 130 ]
! spose[15] [ -0.155 0.130 90 ]
# define the field of view of each transducer [range_min range_max
view_angle]
--- 9,33 ----
define p2dx_sonar ranger
(
! size [ 0.40 0.33 0.06 ] # matches the Pioneer 2-DX dimensions
!
! scount 16 # the number of transducers
# define the pose of each transducer [xpos ypos heading]
! spose[0] [ 0.0075 0.0130 90 ]
! spose[1] [ 0.0115 0.0115 50 ]
! spose[2] [ 0.0150 0.0080 30 ]
! spose[3] [ 0.0170 0.0025 10 ]
! spose[4] [ 0.0170 -0.0025 -10 ]
! spose[5] [ 0.0150 -0.0080 -30 ]
! spose[6] [ 0.0115 -0.0115 -50 ]
! spose[7] [ 0.0075 -0.0130 -90 ]
! spose[8] [ -0.0155 -0.0130 -90 ]
! spose[9] [ -0.0195 -0.0115 -130 ]
! spose[10] [ -0.0230 -0.0080 -150 ]
! spose[11] [ -0.0250 -0.0025 -170 ]
! spose[12] [ -0.0250 0.0025 170 ]
! spose[13] [ -0.0230 0.0080 150 ]
! spose[14] [ -0.0195 0.0115 130 ]
! spose[15] [ -0.0155 0.0130 90 ]
# define the field of view of each transducer [range_min range_max
view_angle]
***************
*** 36,47 ****
)
# a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
# actual size
! size [0.44 0.33]
# the pioneer's center of rotation is offset from its center of area
! origin [-0.04 0.0 0]
# draw a nose on the robot so we can see which way it points
--- 38,50 ----
)
+
# a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
# actual size
! size [0.44 0.38 0.22] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
! origin [-0.04 0 0 0]
# draw a nose on the robot so we can see which way it points
***************
*** 50,81 ****
# estimated mass in KG
mass 15.0
!
! # this polygon approximates the shape of a pioneer
! polygons 1
! polygon[0].points 8
! polygon[0].point[0] [ 0.23 0.05 ]
! polygon[0].point[1] [ 0.15 0.15 ]
! polygon[0].point[2] [ -0.15 0.15 ]
! polygon[0].point[3] [ -0.23 0.05 ]
! polygon[0].point[4] [ -0.23 -0.05 ]
! polygon[0].point[5] [ -0.15 -0.15 ]
! polygon[0].point[6] [ 0.15 -0.15 ]
! polygon[0].point[7] [ 0.23 -0.05 ]
# differential steering model
drive "diff"
! # uncomment this line if you want to model real pioneers with SICK
! # lasers, where the laser is taller than the robot
! # laser_return 0
! # use the sonar array defined above
! p2dx_sonar()
! )
! #define pioneer2dx_battery pioneer2dx
! #(
! # power( pose [-0.14 0 0] capacity 1000 probe_range 0.50 give 0 give_rate
100 take_rate 100 )
! #)
# The AmigoBot sonar array
--- 53,165 ----
# estimated mass in KG
mass 15.0
!
! # use the sonar array defined above
! #p2dx_sonar()
# differential steering model
drive "diff"
! # this set of blocks approximates the shape of a pioneer
! # The geometry is from the Webots v5.3.0 manual. Thanks to Webots
! # and Olivier Michel. If Stage or Gazebo do not do what you want,
! # take a look at Webots. It's a very nice commercial simulator.
! blocks 7
! # main body
! block[0].points 8
! block[0].point[7] [ -0.215 -0.1 ]
! block[0].point[6] [ -0.215 0.1 ]
! block[0].point[5] [ -0.185 0.135 ]
! block[0].point[4] [ 0.095 0.135 ]
! block[0].point[3] [ 0.11 0.08 ]
! block[0].point[2] [ 0.11 -0.08 ]
! block[0].point[1] [ 0.095 -0.135 ]
! block[0].point[0] [ -0.185 -0.135 ]
! block[0].z [ 0.059 0.234 ]
!
!
! # sonar case
! block[1].points 9
! block[1].point[0] [ -0.135 0.136 ]
! block[1].point[1] [ -0.185 0.136 ]
! block[1].point[2] [ -0.223 0.101 ]
! block[1].point[3] [ -0.248 0.054 ]
! block[1].point[4] [ -0.258 0 ]
! block[1].point[5] [ -0.248 -0.054 ]
! block[1].point[6] [ -0.223 -0.101 ]
! block[1].point[7] [ -0.185 -0.136 ]
! block[1].point[8] [ -0.135 -0.136 ]
! block[1].z [ 0.184 0.234 ]
!
! #sonar case
! block[2].points 9
! block[2].point[0] [ 0.046 -0.136 ]
! block[2].point[1] [ 0.096 -0.136 ]
! block[2].point[2] [ 0.134 -0.101 ]
! block[2].point[3] [ 0.159 -0.054 ]
! block[2].point[4] [ 0.168 0 ]
! block[2].point[5] [ 0.159 0.054 ]
! block[2].point[6] [ 0.134 0.101 ]
! block[2].point[7] [ 0.096 0.136 ]
! block[2].point[8] [ 0.046 0.136 ]
! block[2].z [ 0.184 0.234 ]
!
! # left wheel
! block[3].points 4
! block[3].point[0] [ 0.083 0.177 ]
! block[3].point[1] [ -0.083 0.177 ]
! block[3].point[2] [ -0.083 0.140 ]
! block[3].point[3] [ 0.083 0.140 ]
! block[3].z [0 0.165 ]
! block[3].color "gray10"
!
! # right wheel
! block[4].points 4
! block[4].point[0] [ 0.083 -0.14 ]
! block[4].point[1] [ -0.083 -0.14 ]
! block[4].point[2] [ -0.083 -0.177 ]
! block[4].point[3] [ 0.083 -0.177 ]
! block[4].z [ 0 0.165 ]
! block[4].color "gray10"
!
! # castor
! block[5].points 4
! block[5].point[3] [ -0.2475 0.012 ]
! block[5].point[2] [ -0.1825 0.012 ]
! block[5].point[1] [ -0.1825 -0.012 ]
! block[5].point[0] [ -0.2475 -0.012 ]
! block[5].z [ 0 0.065 ]
! block[5].color "gray10"
!
! # lid
! block[6].points 22
! block[6].point[21] [ 0.174 0 ]
! block[6].point[20] [ 0.166 -0.056 ]
! block[6].point[19] [ 0.145 -0.107 ]
! block[6].point[18] [ 0.112 -0.155 ]
! block[6].point[17] [ 0.064 -0.190 ]
! block[6].point[16] [ -0.074 -0.190 ]
! block[6].point[15] [ -0.096 -0.160 ]
! block[6].point[14] [ -0.151 -0.160 ]
! block[6].point[13] [ -0.2 -0.155 ]
! block[6].point[12] [ -0.236 -0.107 ]
! block[6].point[11] [ -0.256 -0.056 ]
! block[6].point[10] [ -0.264 0 ]
! block[6].point[9] [ -0.256 0.056 ]
! block[6].point[8] [ -0.236 0.107 ]
! block[6].point[7] [ -0.2 0.155 ]
! block[6].point[6] [ -0.151 0.160 ]
! block[6].point[5] [ -0.096 0.160 ]
! block[6].point[4] [ -0.074 0.190 ]
! block[6].point[3] [ 0.064 0.190 ]
! block[6].point[2] [ 0.112 0.155 ]
! block[6].point[1] [ 0.145 0.107 ]
! block[6].point[0] [ 0.166 0.056 ]
! block[6].z [ 0.234 0.24 ]
! # a dark top looks more realistic, but isn't very useful
! # for a top-down view
! #block[6].color "gray10"
! )
# The AmigoBot sonar array
***************
*** 87,91 ****
spose[2] [ 0.154 0.030 15 ]
spose[3] [ 0.154 -0.030 -15 ]
! spose[4] [ 0.130 -0.078 -41 ]
spose[5] [ 0.073 -0.105 -90 ]
spose[6] [ -0.146 -0.060 -145 ]
--- 171,175 ----
spose[2] [ 0.154 0.030 15 ]
spose[3] [ 0.154 -0.030 -15 ]
! spose[4] [ 0.130 -0.078 -41 ]
spose[5] [ 0.073 -0.105 -90 ]
spose[6] [ -0.146 -0.060 -145 ]
***************
*** 95,100 ****
define amigobot position
(
! size [.330 .280]
! #origin [0.0 0.0] # what should this value be? send email to [EMAIL
PROTECTED]
amigo_sonar()
)
--- 179,184 ----
define amigobot position
(
! size [.330 .280 0.25]
! origin [0 0 0 0] # what should this value be? send email to [EMAIL
PROTECTED]
amigo_sonar()
)
Index: sick.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/sick.inc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** sick.inc 21 Aug 2007 23:28:31 -0000 1.2
--- sick.inc 11 Sep 2007 01:24:44 -0000 1.3
***************
*** 11,13 ****
)
- define sicklms200 sick_laser ()
--- 11,12 ----
Index: map.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/map.inc,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** map.inc 25 May 2006 21:35:01 -0000 1.12
--- map.inc 11 Sep 2007 01:24:44 -0000 1.13
***************
*** 12,17 ****
gui_movemask 0
gui_outline 0
!
! # maps can not be picked up and moved
gripper_return 0
)
--- 12,17 ----
gui_movemask 0
gui_outline 0
!
gripper_return 0
+ fiducial_return 0
)
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