Revision: 6343
http://playerstage.svn.sourceforge.net/playerstage/?rev=6343&view=rev
Author: gerkey
Date: 2008-04-16 12:41:38 -0700 (Wed, 16 Apr 2008)
Log Message:
-----------
added new params
Modified Paths:
--------------
code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
Modified:
code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
===================================================================
--- code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
2008-04-16 19:40:29 UTC (rev 6342)
+++ code/stage/branches/release-2-1-patches/worlds/wavefront-velcontrol.cfg
2008-04-16 19:41:38 UTC (rev 6343)
@@ -17,6 +17,14 @@
driver
(
+ name "mapscale"
+ provides ["map:1"]
+ requires ["map:0"]
+ resolution 0.1
+)
+
+driver
+(
name "stage"
provides ["6665:position2d:0" "6665:laser:0"]
model "robot1"
@@ -42,7 +50,7 @@
(
name "amcl"
provides ["6665:localize:0" "6665:position2d:2"]
- requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
+ requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:1"]
)
driver
@@ -56,17 +64,23 @@
(
name "wavefront"
provides ["6665:planner:0"]
+ #"graphics2d:0"
requires ["output::6665:position2d:1"
"input::6665:position2d:2"
- "6665:map:0"
+ "6665:map:1"
"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 20
- laser_maxrange 2.0
+ laser_maxrange 4.0
+ update_rate 20
+
+ velocity_control 1
+ control_tv [0.1 0.5]
+ control_av [10.0 90.0]
+ control_a [5.0 20.0]
)
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