[Playerstage-commit] code/player/server/drivers/mixed/mricp/stage_test map.inc, NONE, 1.1 homer.inc, NONE, 1.1 wheelchair.inc, NONE, 1.1 rescue.world, NONE, 1.1 casarea.jpeg, NONE, 1.1 stage_mricp.cfg, NONE, 1.1

Wed, 21 Nov 2007 02:52:02 -0800 

Update of /cvsroot/playerstage/code/player/server/drivers/mixed/mricp/stage_test
In directory 
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6130/server/drivers/mixed/mricp/stage_test

Added Files:
        map.inc homer.inc wheelchair.inc rescue.world casarea.jpeg 
        stage_mricp.cfg 
Log Message:
added mricp driver, thanks to Tarek Taha

--- NEW FILE: casarea.jpeg ---
(This appears to be a binary file; contents omitted.)

--- NEW FILE: rescue.world ---
resolution     0.047
interval_sim 100  # milliseconds per update step
interval_real 100 # real-time milliseconds per update step
include "homer.inc"
include "map.inc"
size [47 20]
#size [33 38]
window
( 
  size [ 1000 500 ] 
  center [0 0] 
  scale 0.047
  #scale 0.064
)

map
(
  name "CAS AREA"
  #size [15.5 11.4]
  #bitmap "bitmaps/casarea.pnm"
  bitmap "casarea.jpeg"
  #bitmap "semi-cas.jpeg"
  #bitmap "cas.png"
  #bitmap_resolution 0.044
  size [46.53 19.74]  # casarea
  #size [13.332 10.78] # semi-cas
  #size [32.192 37.184 ] # cas
)

define hokuyolaser1 laser
(
  range_min 0.0
  range_max 4.0
  fov 240.0
  samples 768
  color "LightBlue"
  size [ 0.05 0.05 ]
  pose [0 0 0]
)


define hokuyolaser2 laser
(
  range_min 0.0
  range_max 4.0
  fov 240.0
  samples 768
  color "LightBlue"
  size [ 0.05 0.05 ]
  pose [-0.2 0 180 ]
)

define sicklaser laser
(
  range_min 0.0
  range_max 8.0
  fov 184.0
  samples 183
  color "LightBlue"
  size [ 0.14 0.14 ]
  pose [0.4 -0.15 0 ]
  #pose [0.46 -0.15 0 ]
)

# extend the wheelchair definition from wheelchair.inc

homer
( 
   name "robot"
   pose [14.2 -4.6 180]
#   sicklaser()
   hokuyolaser1()
#   hokuyolaser2()
)


--- NEW FILE: map.inc ---

define map model
(
  color "black"
  gui_nose 0
  gui_grid 0
  gui_movemask 0
)

--- NEW FILE: wheelchair.inc ---

# Desc: Device definitions for Activemedia robots.
# Author: Andrew Howard, Richard Vaughan
# Date: 10 Jun 2002
# CVS: $Id: wheelchair.inc,v 1.1 2007/11/21 10:51:57 thjc Exp $


# Wheelchair standard configuration
define wheelchair position
(
  # actual size
  size     [1.2 0.7]
  origin  [0.3 0 0] # the wheelchairs's center of rotation is offset from its 
center of area / I considered it to be 30 cm from the mid Axes
  #origin   [0 0 0]
  velocity [0 0 0]    # Initial Robot Velocity
  color "gray" # body colorx
  
  # GUI properties
  gui_nose 1 # draw a nose on the robot so we can see which way it points
  #gui_grid 1
  gui_boundary 1
  gui_movemask 1
  
  # estimated mass in KG
  mass 100.0 
  
  # determine how the model appears in various sensors
  obstacle_return 1
  laser_return 1
  ranger_return 1
  blobfinder_return 1
  fiducial_return 1
  # differential steering model
  drive "diff"

  #body shape
  polygons 1
  polygon[0].points 4
  polygon[0].point[0] [ 0.8 -0.35 ]
  polygon[0].point[1] [-0.4 -0.35 ]
  polygon[0].point[2] [-0.4  0.35 ]
  polygon[0].point[3] [ 0.8  0.35 ]

  #bitmap ""
  #bitmap_resolution 0  
) 


--- NEW FILE: homer.inc ---

# Desc: Device definitions for Activemedia robots.
# Author: Andrew Howard, Richard Vaughan
# Date: 10 Jun 2002
# CVS: $Id: homer.inc,v 1.1 2007/11/21 10:51:57 thjc Exp $


# Wheelchair standard configuration
define homer position
(
  # actual size
  size     [0.37 0.37]
  origin  [-0.1 0 0] # the wheelchairs's center of rotation is offset from its 
center of area / I considered it to be 30 cm from the mid Axes
  #origin   [0 0 0]
  velocity [0 0 0]    # Initial Robot Velocity
  color "gray" # body colorx
  
  # GUI properties
  gui_nose 1 # draw a nose on the robot so we can see which way it points
  #gui_grid 1
  gui_movemask 1
  
  # estimated mass in KG
  mass 15.0 
  
  # determine how the model appears in various sensors
  obstacle_return 1
  laser_return 1
  ranger_return 1
  fiducial_return 1
  # differential steering model
  drive "diff"

  #body shape
  polygons 1
  polygon[0].points 4
  polygon[0].point[0] [ 0.185 -0.185 ]
  polygon[0].point[1] [-0.185 -0.185 ]
  polygon[0].point[2] [-0.185  0.185 ]
  polygon[0].point[3] [ 0.185  0.185 ]

  #bitmap ""
  #bitmap_resolution 0  
) 


--- NEW FILE: stage_mricp.cfg ---

driver
(
  name "stage"
  plugin "libstageplugin"
  provides ["simulation:0"]
  worldfile "rescue.world"
)

# robot 1
driver
( 
  name "stage"
  provides ["position2d:0" "laser:0"]
  model "robot" 
)

driver
(
  name "MrIcpDriver"
  provides ["position2d:1" "map:0"]
  requires ["position2d:0" "laser:0"]
  number_of_lasers 1
  laser0_ranges [-120 120]
  playerv_debug 0
  period 0.2
  MAXR 3.9
  MINR 0.05
  map_resolution 0.05
  map_saving_period 5
  map_size 10
  use_max_range 1
  sparse_scans_rate 3
  map_path "logs/"
  debug 0
  alwayson 1
  log 1
  sanitycheck_distance 0.1
  sanitycheck_angle 5
)


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