Revision: 6337
http://playerstage.svn.sourceforge.net/playerstage/?rev=6337&view=rev
Author: gerkey
Date: 2008-04-16 10:24:18 -0700 (Wed, 16 Apr 2008)
Log Message:
-----------
added example cfg using wavefront's builtin velocity control
Added Paths:
-----------
code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
Added: code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
===================================================================
--- code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
(rev 0)
+++ code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
2008-04-16 17:24:18 UTC (rev 6337)
@@ -0,0 +1,73 @@
+driver
+(
+ name "stage"
+ plugin "libstageplugin"
+ provides ["6665:simulation:0"]
+ #worldfile "simple.world"
+ worldfile "everything.world"
+)
+
+driver
+(
+ name "stage"
+ provides ["6665:map:0" "graphics2d:0"]
+ #model "cave"
+ model "hospital"
+)
+
+driver
+(
+ name "stage"
+ provides ["6665:position2d:0" "6665:laser:0"]
+ model "robot1"
+)
+
+driver
+(
+ name "vfh"
+ provides ["6665:position2d:1"]
+ requires ["6665:position2d:0" "6665:laser:0"]
+ distance_epsilon 0.3
+ angle_epsilon 5
+)
+
+#driver
+#(
+# name "nd"
+# provides ["6665:position2d:1"]
+# requires ["output::6665:position2d:0" "input::6665:position2d:0"
"6665:laser:0"]
+#)
+
+driver
+(
+ name "amcl"
+ provides ["6665:localize:0" "6665:position2d:2"]
+ requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
+)
+
+driver
+(
+ name "laserposeinterpolator"
+ requires ["6665:position2d:2" "6665:laser:0"]
+ provides ["6665:laser:1"]
+)
+
+driver
+(
+ name "wavefront"
+ provides ["6665:planner:0"]
+ requires ["output::6665:position2d:1"
+ "input::6665:position2d:2"
+ "6665:map:0"
+ "6665:graphics2d:0"
+ "6665:laser:1"]
+ safety_dist 0.1
+ distance_epsilon 0.5
+ dist_penalty 1.0
+ angle_epsilon 10
+ velocity_control 1
+ alwayson 1
+ laser_buffer_size 5
+ laser_maxrange 2.0
+)
+
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