Update of /cvsroot/playerstage/code/stage/worlds/wifi
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6713/worlds/wifi
Added Files:
commando.cfg commando.world hosp_wifi.cfg hosp_wifi.world
hosp_wifi_5.cfg hosp_wifi_5.world map.inc wifi.cfg wifi.world
wifi_itu.cfg wifi_itu.world wifi_logdistance.cfg
wifi_logdistance.world wifi_ray.cfg wifi_ray.world
wifi_simple.cfg wifi_simple.world
Log Message:
added Wifi model, more or less untested, from Michael Schroeder. Comments
welcome
--- NEW FILE: hosp_wifi_5.world ---
resolution 0.02
interval_sim 100 # milliseconds per update step
interval_real 100 # real-time milliseconds per update step
include "pioneer.inc"
include "map.inc"
size [40 18 ]
gui_disable 0
gui_interval 100
gui_menu_interval 20
window(
size [ 900.000 484.000 ]
center [0 0]
scale 0.045
)
map(
bitmap "bitmaps/hospital_section.png"
map_resolution 0.02
size [40 18]
name "hospital"
)
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "raytrace"
wall_factor 10
range_db -60
)
pose [-19 5 335]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
model "raytrace"
wall_factor 10
range_db -60
)
pose [-3.5 -4.5 0]
)
# create another robot
commbot
(
name "robot3"
color "blue"
laser()
wifi(
ip "192.168.0.5"
mac "08:00:20:ae:fd:6a"
essid "test network"
model "raytrace"
wall_factor 10
range_db -60
)
pose [8 6 0]
)
# create another robot
commbot
(
name "robot4"
color "blue"
laser()
wifi(
ip "192.168.0.8"
mac "08:00:20:ae:fd:2b"
essid "test network"
model "raytrace"
wall_factor 10
range_db -60
)
pose [16 -4 0]
)
# create another robot
commbot
(
name "robot5"
color "red"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:af:fd:6b"
essid "test network"
model "raytrace"
wall_factor 10
range_db -60
)
pose [4 0 0]
)
--- NEW FILE: hosp_wifi.world ---
resolution 0.02
interval_sim 100 # milliseconds per update step
interval_real 100 # real-time milliseconds per update step
include "pioneer.inc"
include "map.inc"
size [40 18 ]
gui_disable 0
gui_interval 100
gui_menu_interval 20
window(
size [ 900.000 484.000 ]
center [0 0]
scale 0.045
)
map(
bitmap "bitmaps/hospital_section.png"
map_resolution 0.02
size [40 18]
name "hospital"
)
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "raytrace"
wall_factor 100
range_db -50
)
pose [-19 5 335]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
model "raytrace"
wall_factor 100
range_db -50
)
pose [-3.5 -4.5 0]
)
--- NEW FILE: wifi_ray.world ---
include "map.inc"
# size of the world in meters
size [16 16]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
gui_interval 40
interval_sim 100
interval_real 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
map
(
bitmap "bitmaps/cave_f.png"
size [16 16]
name "cave"
)
# define a wifi-equipped robot
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "raytrace"
wall_factor 10
range3 -35
)
pose [-6.5 -6.5 45]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
model "raytrace"
wall_factor 10
range3 -30
)
pose [-3.5 -4.5 0]
)
--- NEW FILE: wifi.cfg ---
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "wifi.world"
)
driver
(
name "stage"
provides ["map:0"]
model "cave"
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["6665:position2d:0" "laser:0" "6665:wifi:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0" ]
model "robot2"
alwayson 1
)
driver
(
name "stage"
provides ["6667:position2d:0" "6667:laser:0" "6667:wifi:0"]
model "robot3"
alwayson 1
)
--- NEW FILE: wifi_logdistance.cfg ---
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "wifi_logdistance.world"
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["6665:position2d:0" "laser:0" "6665:wifi:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0" ]
model "robot2"
alwayson 1
)
driver
(
name "stage"
provides ["6667:position2d:0" "6667:laser:0" "6667:wifi:0"]
model "robot3"
alwayson 1
)
--- NEW FILE: wifi_itu.cfg ---
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "wifi_itu.world"
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["6665:position2d:0" "laser:0" "6665:wifi:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0" ]
model "robot2"
alwayson 1
)
driver
(
name "stage"
provides ["6667:position2d:0" "6667:laser:0" "6667:wifi:0"]
model "robot3"
alwayson 1
)
--- NEW FILE: wifi_simple.world ---
include "map.inc"
# size of the world in meters
size [16 16]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
# update the screen every 10ms (we need fast update for the stest demo)
gui_interval 20
interval_sim 100
interval_real 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
map
(
bitmap "bitmaps/cave.png"
size [16 16]
name "cave"
)
# define a wifi-equipped robot
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "simple"
range 3.5
)
pose [-6.5 -6.5 0]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
range 4
model "simple"
)
pose [-3.5 -2.5 0]
)
commbot
(
name "robot3"
color "green"
laser()
wifi(
range 6
ip "192.168.0.6"
mac "08:00:20:ae:fd:4e"
essid "test network"
model "simple"
)
pose [6.5 6.5 45]
)
--- NEW FILE: hosp_wifi_5.cfg ---
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstageplugin"
worldfile "hosp_wifi_5.world"
)
driver
(
name "stage"
provides ["map:0" ]
model "hospital"
)
driver(
name "stage"
provides [ "6665:position2d:0" "6665:laser:0" "6665:wifi:0"]
model "robot1"
alwayson 1
)
driver(
name "stage"
provides [ "6666:position2d:0" "6666:laser:0" "6666:wifi:0"]
model "robot2"
alwayson 1
)
driver(
name "stage"
provides [ "6667:position2d:0" "6667:laser:0" "6667:wifi:0"]
model "robot3"
alwayson 1
)
driver(
name "stage"
provides [ "6668:position2d:0" "6668:laser:0" "6668:wifi:0"]
model "robot4"
alwayson 1
)
driver(
name "stage"
provides [ "6669:position2d:0" "6669:laser:0" "6669:wifi:0"]
model "robot5"
alwayson 1
)
--- NEW FILE: commando.cfg ---
#simulation
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "commando.world"
)
# loading map
driver
(
name "stage"
provides ["map:0"]
model "cave"
)
# robot 1
driver
(
name "stage"
provides ["6665:position2d:0" "6665:laser:0" "6665:wifi:0"]
model "robot1"
alwayson 1
)
driver
(
name "relay"
provides ["6667:opaque:0"]
)
driver
(
name "amcl"
provides ["6665:localize:0" "6665:position2d:2"]
requires ["odometry::6665:position2d:1" "6665:laser:0" "laser::6665:map:0"]
init_pose [-5 -5 90 ]
alwayson 1
)
driver
(
name "vfh"
provides ["6665:position2d:1"]
requires ["6665:position2d:0" "6665:laser:0"]
safety_dist 0.1
distance_epsilon 0.3
max_speed 0.3
max_turnrate_0ms 45
angle_epsilon 5
alwayson 1
)
driver
(
name "wavefront"
provides ["6665:planner:0"]
requires ["output::6665:position2d:1" "input::6665:position2d:2" "6665:map:0"]
safety_dist 0.15
distance_epsilon 0.5
angle_epsilon 10
alwayson 1
)
#driver
#(
# name "writelog"
# filename "mydata.log"
# requires ["laser:0" "position2d:0"]
# provides ["log:0"]
# alwayson 1
# autorecord 1
#)
# robot 2
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0"]
model "robot2"
alwayson 1
)
driver
(
name "amcl"
provides ["6666:localize:0" "6666:position2d:2"]
requires ["odometry::6666:position2d:1" "6666:laser:0" "laser::6665:map:0"]
init_pose [5 5 90 ]
alwayson 1
)
driver
(
name "vfh"
provides ["6666:position2d:1"]
requires ["6666:position2d:0" "6666:laser:0"]
safety_dist 0.1
distance_epsilon 0.3
max_speed 0.3
max_turnrate_0ms 45
angle_epsilon 5
alwayson 1
)
driver
(
name "wavefront"
provides ["6666:planner:0"]
requires ["output::6666:position2d:1" "input::6666:position2d:2" "6665:map:0"]
safety_dist 0.15
distance_epsilon 0.5
angle_epsilon 10
alwayson 1
)
--- NEW FILE: wifi_simple.cfg ---
# Create a stage simulation
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "wifi_simple.world"
)
# Give a map
driver
(
name "stage"
provides ["map:0"]
model "cave"
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["6665:position2d:0" "laser:0" "6665:wifi:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0" ]
model "robot2"
alwayson 1
)
driver
(
name "stage"
provides ["6667:position2d:0" "6667:laser:0" "6667:wifi:0"]
model "robot3"
alwayson 1
)
--- NEW FILE: map.inc ---
define map model
(
# sombre, sensible, artistic
color "black"
# most maps will need a bounding box
boundary 1
gui_nose 0
gui_grid 1
gui_movemask 0
gui_outline 0
gripper_return 0
fiducial_return 0
)
--- NEW FILE: wifi_itu.world ---
# size of the world in meters
size [32 32]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
# update the screen every 10ms (we need fast update for the stest demo)
gui_interval 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
# define a wifi-equipped robot
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "ITU indoor"
power 30
sensitivity -70
plc 30
range_db -30
)
pose [-6.5 -6.5 0]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
power 32
sensitivity -70
model "ITU indoor"
plc 30
range_db -30
)
pose [-3.5 -2.5 0]
)
commbot
(
name "robot3"
color "green"
laser()
wifi(
ip "192.168.0.6"
mac "08:00:20:ae:fd:4e"
essid "test network"
power 31
sensitivity -70
model "ITU indoor"
plc 30
range_db -30
)
pose [6.5 6.5 45]
)
--- NEW FILE: hosp_wifi.cfg ---
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstageplugin"
worldfile "hosp_wifi.world"
)
driver
(
name "stage"
provides ["map:0" ]
model "hospital"
)
driver(
name "stage"
provides [ "6665:position2d:0" "6665:laser:0" "6665:wifi:0"]
model "robot1"
alwayson 1
)
driver(
name "stage"
provides [ "6666:position2d:0" "6666:laser:0" "6666:wifi:0"]
model "robot2"
alwayson 1
)
--- NEW FILE: wifi_ray.cfg ---
driver
(
name "stage"
provides ["simulation:0" ]
plugin "libstageplugin"
worldfile "wifi_ray.world"
)
driver
(
name "stage"
provides ["map:0"]
model "cave"
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot1"
driver
(
name "stage"
provides ["6665:position2d:0" "laser:0" "6665:wifi:0" ]
model "robot1"
alwayson 1
)
# Create a Stage driver and attach position2d and wifi interfaces
# to the model "robot2"
driver
(
name "stage"
provides ["6666:position2d:0" "6666:laser:0" "6666:wifi:0" ]
model "robot2"
alwayson 1
)
--- NEW FILE: wifi.world ---
include "map.inc"
# size of the world in meters
size [16 16]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
gui_interval 40
interval_sim 100
interval_real 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
map
(
bitmap "bitmaps/cave.png"
size [16 16]
name "cave"
)
# define a wifi-equipped robot
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "friis"
power 30
sensitivity -45
range_db -45
)
pose [-6.5 -6.5 0]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
model "friis"
power 40
sensitivity -40
range_db -40
)
pose [-3.5 -2.5 0]
)
commbot
(
name "robot3"
color "green"
laser()
wifi(
range 6
ip "192.168.0.6"
mac "08:00:20:ae:fd:4e"
essid "test network"
model "friis"
power 40
sensitivity -40
range_db -40
)
pose [6.5 6.5 45]
)
--- NEW FILE: wifi_logdistance.world ---
# size of the world in meters
size [32 32]
# set the resolution of the underlying raytrace model in meters
resolution 0.02
# update the screen every 10ms (we need fast update for the stest demo)
gui_interval 20
interval_sim 20
interval_real 20
# configure the GUI window
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
# define a wifi-equipped robot
define commbot position
(
size [0.25 0.25]
)
# create a robot
commbot
(
name "robot1"
color "red"
laser()
wifi(
ip "192.168.0.2"
mac "08:00:20:ae:fd:7e"
essid "test network"
model "log distance"
ple 4
power 40
range_db -70
)
pose [-6.5 -6.5 0]
)
# create another robot
commbot
(
name "robot2"
color "blue"
laser()
wifi(
ip "192.168.0.4"
mac "08:00:20:ae:fd:6b"
essid "test network"
model "log distance"
ple 4
power 30
range_db -70
)
pose [-3.5 -2.5 0]
)
commbot
(
name "robot3"
color "green"
laser()
wifi(
ip "192.168.0.6"
mac "08:00:20:ae:fd:4e"
essid "test network"
model "log distance"
ple 4
power 25
range_db -70
)
pose [6.5 6.5 45]
)
--- NEW FILE: commando.world ---
include "pioneer.inc"
include "map.inc"
size [16 16]
resolution 0.02
gui_interval 20
window
(
size [ 591.000 638.000 ]
center [-0.010 -0.040]
scale 0.028
)
map
(
bitmap "bitmaps/cave.png"
size [16 16]
name "cave"
)
pioneer2dx
(
name "robot1"
color "red"
pose [-5 -5 90]
laser(
samples 181
)
wifi(
ip "192.168.0.2"
mac "00:03:03:ac:a7:b5"
essid "test network"
model "simple"
range 4
)
)
pioneer2dx
(
name "robot2"
color "blue"
pose [5 5 90]
laser(
samples 181
)
wifi (
ip "192.168.0.4"
mac "00:03:03:ac:a7:b5"
essid "test network"
model "simple"
range 4
)
)
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