Revision: 6804
http://playerstage.svn.sourceforge.net/playerstage/?rev=6804&view=rev
Author: rtv
Date: 2008-07-07 20:49:09 -0700 (Mon, 07 Jul 2008)
Log Message:
-----------
cleanig up
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
Added Paths:
-----------
code/stage/trunk/examples/libplayerc/playerswarm/
code/stage/trunk/worlds/inc/
code/stage/trunk/worlds/inc/beacons.inc
code/stage/trunk/worlds/inc/chatterbox.inc
code/stage/trunk/worlds/inc/irobot.inc
code/stage/trunk/worlds/inc/map.inc
code/stage/trunk/worlds/inc/objects.inc
code/stage/trunk/worlds/inc/pantilt.inc
code/stage/trunk/worlds/inc/pioneer.inc
code/stage/trunk/worlds/inc/pucktarget.inc
code/stage/trunk/worlds/inc/sick.inc
code/stage/trunk/worlds/inc/ubot.inc
Removed Paths:
-------------
code/stage/trunk/examples/libstage/stest.c
code/stage/trunk/worlds/Makefile.am
code/stage/trunk/worlds/beacons.inc
code/stage/trunk/worlds/chatterbox.inc
code/stage/trunk/worlds/irobot.inc
code/stage/trunk/worlds/map.inc
code/stage/trunk/worlds/objects.inc
code/stage/trunk/worlds/p3at.inc
code/stage/trunk/worlds/p3dx.inc
code/stage/trunk/worlds/pantilt.inc
code/stage/trunk/worlds/pioneer.inc
code/stage/trunk/worlds/pioneerBase.inc
code/stage/trunk/worlds/playerswarm/
code/stage/trunk/worlds/pucktarget.inc
code/stage/trunk/worlds/sample-zoo.cfg
code/stage/trunk/worlds/sample-zoo.world
code/stage/trunk/worlds/sick.inc
code/stage/trunk/worlds/ubot.inc
Copied: code/stage/trunk/examples/libplayerc/playerswarm (from rev 6802,
code/stage/trunk/worlds/playerswarm)
Deleted: code/stage/trunk/examples/libstage/stest.c
===================================================================
--- code/stage/trunk/examples/libstage/stest.c 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/examples/libstage/stest.c 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,155 +0,0 @@
-/////////////////////////////////
-// File: stest.c
-// Desc: Stage library test program
-// Created: 2004.9.15
-// Author: Richard Vaughan <[EMAIL PROTECTED]>
-// CVS: $Id: stest.c,v 1.1 2006-07-28 22:12:43 pooya Exp $
-// License: GPL
-/////////////////////////////////
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "stage.h"
-#include "config.h" // results of autoconf's system configuration tests
-
-const size_t MAX_LASER_SAMPLES = 361;
-
-double minfrontdistance = 0.750;
-double speed = 0.400;
-double turnrate = DTOR(60);
-
-int randint;
-int randcount = 0;
-int avoidcount = 0;
-int obs = FALSE;
-
-int main( int argc, char* argv[] )
-{
- printf( "Stage v%s test program.\n", VERSION );
-
- if( argc < 3 )
- {
- puts( "Usage: stest <worldfile> <robotname>" );
- exit(0);
- }
-
- // initialize libstage
- stg_init( argc, argv );
-
- stg_world_t* world = stg_world_create_from_file( argv[1] );
-
- char* robotname = argv[2];
-
- // generate the name of the laser attached to the robot
- char lasername[64];
- snprintf( lasername, 63, "%s.laser:0", robotname );
-
- char sonarname[64];
- snprintf( sonarname, 63, "%s.ranger:0", robotname );
-
- stg_model_t* position = stg_world_model_name_lookup( world, robotname );
- stg_model_t* laser = stg_world_model_name_lookup( world, lasername );
-
- // subscribe to the laser - starts it collecting data
- stg_model_subscribe( laser );
- stg_model_subscribe( position);
-
- stg_model_print( position, "Subscribed to model" );
- stg_model_print( laser, "Subscribed to model" );
-
- printf( "Starting world clock..." ); fflush(stdout);
- // start the clock
- stg_world_start( world );
- puts( "done" );
-
-
- double newspeed = 0.0;
- double newturnrate = 0.0;
-
- stg_world_set_interval_real( world, 0 );
-
- while( (stg_world_update( world,0 )==0) )
- {
- // get some laser data
- size_t laser_sample_count = 0;
-
- stg_laser_sample_t* laserdata =
- stg_model_get_data( laser, &laser_sample_count );
- laser_sample_count /= sizeof(stg_laser_sample_t);
-
- // THIS IS ADAPTED FROM PLAYER'S RANDOMWALK C++ EXAMPLE
-
- /* See if there is an obstacle in front */
- obs = FALSE;
- int i;
- for(i = 0; i < laser_sample_count; i++)
- {
- if(laserdata[i].range < minfrontdistance)
- obs = TRUE;
- }
-
- if(obs || avoidcount )
- {
- newspeed = 0;
-
- /* once we start avoiding, continue avoiding for 2 seconds */
- /* (we run at about 10Hz, so 20 loop iterations is about 2 sec) */
- if(!avoidcount)
- {
- avoidcount = 15;
- randcount = 0;
-
- // find the minimum on the left and right
-
- double min_left = 1e9;
- double min_right = 1e9;
-
- for(i=0; i<laser_sample_count; i++ )
- {
- if(i>(laser_sample_count/2) && laserdata[i].range < min_left)
- min_left = laserdata[i].range;
- else if(i<(laser_sample_count/2) && laserdata[i].range <
min_right)
- min_right = laserdata[i].range;
- }
-
- if( min_left < min_right)
- newturnrate = -turnrate;
- else
- newturnrate = turnrate;
- }
-
- avoidcount--;
- }
- else
- {
- avoidcount = 0;
- newspeed = speed;
-
- /* update turnrate every 3 seconds */
- if(!randcount)
- {
- /* make random int tween -20 and 20 */
- randint = rand() % 41 - 20;
-
- newturnrate = DTOR(randint);
- randcount = 20;
- }
- randcount--;
- }
-
- stg_position_cmd_t cmd;
- memset(&cmd,0,sizeof(cmd));
- cmd.x = newspeed;
- cmd.y = 0;
- cmd.a = newturnrate;
-
- stg_model_set_cmd( position, &cmd, sizeof(cmd));
-
- }
-
- stg_world_destroy( world );
-
- exit( 0 );
-}
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/libstage/CMakeLists.txt 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,17 +1,11 @@
add_library(stage SHARED
- world.cc
- worldgui.cc
- worldfile.cc
- stage.cc
- typetable.cc
- stage.hh
- file_manager.hh
- file_manager.cc
ancestor.cc
block.cc
+ camera.cc
canvas.cc
- camera.cc
+ file_manager.cc
+ file_manager.hh
gl.cc
glcolorstack.cc
model.cc
@@ -25,12 +19,18 @@
model_position.cc
model_props.cc
model_ranger.cc
- resource.cc
- texture_manager.cc
+ option.cc
option.hh
- option.cc
options_dlg.cc
options_dlg.hh
+ resource.cc
+ stage.cc
+ stage.hh
+ texture_manager.cc
+ typetable.cc
+ world.cc
+ worldfile.cc
+ worldgui.cc
)
target_link_libraries( stage
Deleted: code/stage/trunk/worlds/Makefile.am
===================================================================
--- code/stage/trunk/worlds/Makefile.am 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/Makefile.am 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,53 +0,0 @@
-SUBDIRS = bitmaps wifi
-
-worldsdir = $(datadir)/$(package)/worlds
-
-EXAMPLES = \
-889_05.cfg \
-889_05.world \
-889.cfg \
-889.world \
-amcl-sonar.cfg \
-audio.cfg \
-audio.world \
-autolab.cfg \
-autolab.world \
-beacons.inc \
-chatterbox.inc \
-everything.cfg \
-everything.world \
-fast.world \
-map.inc \
-mbicp.cfg \
-mbicp.world \
-nd.cfg \
-objects.inc \
-p3at.inc \
-p3dx.inc \
-pioneerBase.inc \
-pioneer.inc \
-pucktarget.inc \
-puck.world \
-roomba.inc \
-sample-zoo.cfg \
-sample-zoo.world \
-sick.inc \
-simple.cfg \
-simple.world \
-table.world \
-test100.cfg \
-test100.world \
-test.cfg \
-test.world \
-trans-task.cfg \
-trans-task.world \
-ubot.inc \
-vfh.cfg \
-wavefront.cfg \
-wavefront-remote.cfg \
-wifi.cfg \
-wifi.world
-
-worlds_DATA = $(EXAMPLES)
-
-EXTRA_DIST = $(EXAMPLES)
Deleted: code/stage/trunk/worlds/beacons.inc
===================================================================
--- code/stage/trunk/worlds/beacons.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/beacons.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,61 +0,0 @@
-
-# Desc: Device definitions for handy beacons
-# Author: Richard Vaughan
-# Date: 29 October 2002
-# CVS: $Id: beacons.inc,v 1.6 2005-05-26 21:25:54 rtv Exp $
-
-# laser beacons - flat targets that show up bright in the laser, and
-# in the fiducial finder. It's often useful to redefine the
-# fiducial_return property in each instance, to get unique landmark
-# IDs.
-
-define laserbeacon model
-(
- fiducial_return 1
- laser_return 2
- size [ 0.05 0.3 ]
- color "LightBlue"
-)
-
-# vision beacons - bright round squares that show up nicely in the
-# blobfinder
-
-define visionbeacon model
-(
- size [0.2 0.2]
-)
-
-# One version for each primary and secondary color. These match the
-# default settings for the blobfinder device
-
-define visionbeacon_red visionbeacon
-(
- color "red"
-)
-
-define visionbeacon_green visionbeacon
-(
- color "green"
-)
-
-define visionbeacon_blue visionbeacon
-(
- color "blue"
-)
-
-define visionbeacon_cyan visionbeacon
-(
- color "cyan"
-)
-
-define visionbeacon_yellow visionbeacon
-(
- color "yellow"
-)
-
-define visionbeacon_magenta visionbeacon
-(
- color "magenta"
-)
-
-
Deleted: code/stage/trunk/worlds/chatterbox.inc
===================================================================
--- code/stage/trunk/worlds/chatterbox.inc 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/worlds/chatterbox.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,33 +0,0 @@
-# Define a model based on the Autonomy Lab Chatterbox robot
-#
-# Author: Richard T Vaughan (rtv)
-# $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $
-
-include "irobot.inc"
-
-define chatterbox create
-(
- # long range IRs
- ranger
- (
- scount 3
- spose[0] [ 0.050 0.0 0 ]
- spose[1] [ 0.0 0.050 90 ]
- spose[2] [ 0.0 -0.050 270 ]
- sview [ 0 1.0 20 ]
- ssize [0.01 0.03 ]
- )
-
- # short rage IRs
- ranger
- (
- scount 4
- spose[0] [ 0.050 0.0 0 ]
- spose[1] [ 0.035 0.035 30 ]
- spose[2] [ -0.050 0.0 180 ]
- spose[3] [ 0.035 -0.035 330 ]
-
- sview [ 0 0.5 30 ]
- ssize [0.01 0.03 ]
- )
-)
\ No newline at end of file
Copied: code/stage/trunk/worlds/inc/beacons.inc (from rev 6802,
code/stage/trunk/worlds/beacons.inc)
===================================================================
--- code/stage/trunk/worlds/inc/beacons.inc (rev 0)
+++ code/stage/trunk/worlds/inc/beacons.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,61 @@
+
+# Desc: Device definitions for handy beacons
+# Author: Richard Vaughan
+# Date: 29 October 2002
+# CVS: $Id: beacons.inc,v 1.6 2005-05-26 21:25:54 rtv Exp $
+
+# laser beacons - flat targets that show up bright in the laser, and
+# in the fiducial finder. It's often useful to redefine the
+# fiducial_return property in each instance, to get unique landmark
+# IDs.
+
+define laserbeacon model
+(
+ fiducial_return 1
+ laser_return 2
+ size [ 0.05 0.3 ]
+ color "LightBlue"
+)
+
+# vision beacons - bright round squares that show up nicely in the
+# blobfinder
+
+define visionbeacon model
+(
+ size [0.2 0.2]
+)
+
+# One version for each primary and secondary color. These match the
+# default settings for the blobfinder device
+
+define visionbeacon_red visionbeacon
+(
+ color "red"
+)
+
+define visionbeacon_green visionbeacon
+(
+ color "green"
+)
+
+define visionbeacon_blue visionbeacon
+(
+ color "blue"
+)
+
+define visionbeacon_cyan visionbeacon
+(
+ color "cyan"
+)
+
+define visionbeacon_yellow visionbeacon
+(
+ color "yellow"
+)
+
+define visionbeacon_magenta visionbeacon
+(
+ color "magenta"
+)
+
+
Copied: code/stage/trunk/worlds/inc/chatterbox.inc (from rev 6802,
code/stage/trunk/worlds/chatterbox.inc)
===================================================================
--- code/stage/trunk/worlds/inc/chatterbox.inc (rev 0)
+++ code/stage/trunk/worlds/inc/chatterbox.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,33 @@
+# Define a model based on the Autonomy Lab Chatterbox robot
+#
+# Author: Richard T Vaughan (rtv)
+# $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $
+
+include "irobot.inc"
+
+define chatterbox create
+(
+ # long range IRs
+ ranger
+ (
+ scount 3
+ spose[0] [ 0.050 0.0 0 ]
+ spose[1] [ 0.0 0.050 90 ]
+ spose[2] [ 0.0 -0.050 270 ]
+ sview [ 0 1.0 20 ]
+ ssize [0.01 0.03 ]
+ )
+
+ # short rage IRs
+ ranger
+ (
+ scount 4
+ spose[0] [ 0.050 0.0 0 ]
+ spose[1] [ 0.035 0.035 30 ]
+ spose[2] [ -0.050 0.0 180 ]
+ spose[3] [ 0.035 -0.035 330 ]
+
+ sview [ 0 0.5 30 ]
+ ssize [0.01 0.03 ]
+ )
+)
\ No newline at end of file
Copied: code/stage/trunk/worlds/inc/irobot.inc (from rev 6802,
code/stage/trunk/worlds/irobot.inc)
===================================================================
--- code/stage/trunk/worlds/inc/irobot.inc (rev 0)
+++ code/stage/trunk/worlds/inc/irobot.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,38 @@
+
+define roomba position
+(
+ size [0.33 0.33 0.1]
+
+ # this block approximates the circular shape of a Roomba
+ blocks 1
+ block[0].points 16
+ block[0].point[0] [ 0.225 0.000 ]
+ block[0].point[1] [ 0.208 0.086 ]
+ block[0].point[2] [ 0.159 0.159 ]
+ block[0].point[3] [ 0.086 0.208 ]
+ block[0].point[4] [ 0.000 0.225 ]
+ block[0].point[5] [ -0.086 0.208 ]
+ block[0].point[6] [ -0.159 0.159 ]
+ block[0].point[7] [ -0.208 0.086 ]
+ block[0].point[8] [ -0.225 0.000 ]
+ block[0].point[9] [ -0.208 -0.086 ]
+ block[0].point[10] [ -0.159 -0.159 ]
+ block[0].point[11] [ -0.086 -0.208 ]
+ block[0].point[12] [ -0.000 -0.225 ]
+ block[0].point[13] [ 0.086 -0.208 ]
+ block[0].point[14] [ 0.159 -0.159 ]
+ block[0].point[15] [ 0.208 -0.086 ]
+
+ # this bumper array VERY crudely approximates the Roomba's bumpers
+# bumper( bcount 2
+# blength 0.33
+# bpose[0] [0.12 0.12 45]
+# bpose[1] [0.12 -0.12 -45]
+# )
+
+ color "gray50"
+)
+
+define create roomba( color "gray90" )
+
+
Copied: code/stage/trunk/worlds/inc/map.inc (from rev 6802,
code/stage/trunk/worlds/map.inc)
===================================================================
--- code/stage/trunk/worlds/inc/map.inc (rev 0)
+++ code/stage/trunk/worlds/inc/map.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -0,0 +1,29 @@
+# map.inc - useful setup for a floorplan bitmap
+# Authors: Richard Vaughan
+# $Id$
+
+define floorplan model
+(
+ # sombre, sensible, artistic
+ color "gray30"
+
+ # most maps will need a bounding box
+ boundary 1
+
+ gui_nose 0
+ gui_grid 0
+ gui_movemask 0
+ gui_outline 0
+ gripper_return 0
+ fiducial_return 0
+ laser_return 1
+)
+
+define zone model
+(
+ color "orange"
+ size [ 2 2 0.02 ]
+ obstacle_return 0
+ laser_return 0
+ ranger_return 0
+)
Copied: code/stage/trunk/worlds/inc/objects.inc (from rev 6802,
code/stage/trunk/worlds/objects.inc)
===================================================================
--- code/stage/trunk/worlds/inc/objects.inc (rev 0)
+++ code/stage/trunk/worlds/inc/objects.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,22 @@
+# Desc: Some useful environmental objects
+# Author: Richard Vaughan
+# Date: 4 Jun 2002
+# CVS: $Id: objects.inc,v 1.2 2004-12-03 01:32:57 rtv Exp $
+
+# a largeish colored cylinder
+#
+define visionbeacon model
+(
+ shape "circle"
+ size [0.2 0.2]
+ color "red"
+)
+
+# primary colored pucks for moving with the gripper
+#
+define red_puck puck( color "red" )
+define green_puck puck( color "green" )
+define blue_puck puck( color "blue" )
+
+
+
Copied: code/stage/trunk/worlds/inc/pantilt.inc (from rev 6802,
code/stage/trunk/worlds/pantilt.inc)
===================================================================
--- code/stage/trunk/worlds/inc/pantilt.inc (rev 0)
+++ code/stage/trunk/worlds/inc/pantilt.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,33 @@
+
+define pantiltcamera camera
+(
+ width 64
+ height 64
+ horizfov 60
+ vertfov 40
+ yaw 0
+ pitch 0
+
+ color "black"
+ size3 [ 0.1 0.07 0.05 ]
+ pose [ 0.02 0 0 ]
+ obstacle_return 0
+ laser_return 0
+ ranger_return 0
+)
+
+#TODO make a fancier model
+define fancypantiltcamer pantiltcamera
+(
+ blocks 1
+
+ # bottom
+ block[0].points 4
+ block[0].point[0] [ -2.1 0.07 ]
+ block[0].point[1] [ -2.1 -0.07 ]
+ block[0].point[2] [ 2.1 -0.07 ]
+ block[0].point[3] [ 2.1 0.07 ]
+ block[0].z [0 0.2 ]
+
+
+)
Copied: code/stage/trunk/worlds/inc/pioneer.inc (from rev 6802,
code/stage/trunk/worlds/pioneer.inc)
===================================================================
--- code/stage/trunk/worlds/inc/pioneer.inc (rev 0)
+++ code/stage/trunk/worlds/inc/pioneer.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,364 @@
+
+# Desc: Device definitions for Activemedia robots.
+# Author: Richard Vaughan, Andrew Howard, Luis Riazuelo
+# Date: 10 Jun 2002
+# CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $
+
+# The Pioneer2DX sonar array
+define p2dx_sonar ranger
+(
+ scount 16 # the number of transducers
+
+ # 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]
+ sview [0 5.0 15]
+
+ # define the size of each transducer [xsize ysize] in meters
+ ssize [0.01 0.05]
+)
+
+# The Pioneer3DX sonar array
+define p3dx_sonar ranger
+(
+ scount 16
+
+ # define the pose of each transducer [xpos ypos heading]
+ spose[0] [ 0.069 0.136 90 ]
+ spose[1] [ 0.114 0.119 50 ]
+ spose[2] [ 0.148 0.078 30 ]
+ spose[3] [ 0.166 0.027 10 ]
+ spose[4] [ 0.166 -0.027 -10 ]
+ spose[5] [ 0.148 -0.078 -30 ]
+ spose[6] [ 0.114 -0.119 -50 ]
+ spose[7] [ 0.069 -0.136 -90 ]
+ spose[8] [ -0.157 -0.136 -90 ]
+ spose[9] [ -0.203 -0.119 -130 ]
+ spose[10] [ -0.237 -0.078 -150 ]
+ spose[11] [ -0.255 -0.027 -170 ]
+ spose[12] [ -0.255 0.027 170 ]
+ spose[13] [ -0.237 0.078 150 ]
+ spose[14] [ -0.103 0.119 130 ]
+ spose[15] [ -0.157 0.136 90 ]
+
+ # define the field of view of each transducer [range_min range_max
view_angle]
+ sview [0.1 5.0 30] # min (m), max (m), field of view (deg)
+
+ # define the size of each transducer [xsize ysize] in meters
+ ssize [0.01 0.04]
+)
+
+# The Pioneer3AT sonar array
+define p3at_sonar ranger
+(
+ scount 16
+
+ # define the pose of each transducer [xpos ypos heading]
+ spose[0] [0.147 0.136 90]
+ spose[1] [0.193 0.119 50]
+ spose[2] [0.227 0.079 30]
+ spose[3] [0.245 0.027 10]
+ spose[4] [0.245 -0.027 -10]
+ spose[5] [0.227 -0.079 -30]
+ spose[6] [0.193 -0.119 -50]
+ spose[7] [0.147 -0.136 -90]
+ spose[8] [-0.144 -0.136 -90]
+ spose[9] [-0.189 -0.119 -130]
+ spose[10] [-0.223 -0.079 -150]
+ spose[11] [-0.241 -0.027 -170]
+ spose[12] [-0.241 0.027 170]
+ spose[13] [-0.223 0.079 150]
+ spose[14] [-0.189 0.119 130]
+ spose[15] [-0.144 0.136 90]
+
+ # define the field of view of each transducer [range_min range_max
view_angle]
+ sview [0.1 5.0 30] # min (m), max (m), field of view (deg)
+
+ # define the size of each transducer [xsize ysize] in meters
+ ssize [0.01 0.04]
+)
+
+define pioneer_base position
+(
+ color "red" # Default color.
+ drive "diff" # Differential steering model.
+ gui_nose 1 # Draw a nose on the robot so we can see which
way it points
+ obstacle_return 1 # Can hit things.
+ laser_return 1 # reflects laser beams
+ ranger_return 1 # reflects sonar beams
+ blobfinder_return 1 # Seen by blobfinders
+ fiducial_return 1 # Seen as "1" fiducial finders
+
+ localization "gps"
+ localization_origin [0 0 0] # Start odometry at (0, 0, 0).
+
+ # alternative odometric localization with simple error model
+ # localization "odom" # Change to "gps" to have
impossibly perfect, global odometry
+ # odom_error [ 0.05 0.05 0.1 ] # Odometry error or slip in X, Y and
Theta
+ # (Uniform random distribution)
+)
+
+
+define pioneer2dx pioneer_base
+(
+ # 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
+ gui_nose 1
+
+ # estimated mass in KG
+ mass 15.0
+
+ # use the sonar array defined above with a small vertical offset to
+ # drop the sensors into the robot body
+ p2dx_sonar( pose [0.04 0 -0.03 0] )
+
+ # differential steering model
+ drive "diff"
+
+ # this polygon approximates the shape of a pioneer
+ blocks 1
+ block[0].points 8
+ block[0].point[0] [ 0.23 0.05 ]
+ block[0].point[1] [ 0.15 0.15 ]
+ block[0].point[2] [ -0.15 0.15 ]
+ block[0].point[3] [ -0.23 0.05 ]
+ block[0].point[4] [ -0.23 -0.05 ]
+ block[0].point[5] [ -0.15 -0.15 ]
+ block[0].point[6] [ 0.15 -0.15 ]
+ block[0].point[7] [ 0.23 -0.05 ]
+ block[0].z [0 0.45]
+)
+
+# a Pioneer 2 or 3 in standard configuration
+define fancypioneer2dx pioneer2dx
+(
+ # this set of blocks approximates the shape of a real 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 "gray15"
+
+ # 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 "gray15"
+
+ # 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 "gray15"
+
+ # 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"
+)
+
+
+
+# define 10 straight bumpers around the edge of the robot
+#
+# (these angles are correct for p2dx but the offsets are approximate - RTV)
+# format: bumper[x] [x y th length radius] (zero radius gives a straight line)
+# WARNING: bumpers are not currently supported by Stage>=1.5
+# define pioneer2dxbumper bumper
+# (
+# bumpers10
+# bumper[0] [ 0.17 -0.22 -52 0.105 0.0 ]
+# bumper[1] [ 0.24 -0.12 -19 0.105 0.0 ]
+# bumper[2] [ 0.26 0.00 0 0.105 0.0 ]
+# bumper[3] [ 0.24 0.12 19 0.105 0.0 ]
+# bumper[4] [ 0.17 0.22 52 0.105 0.0 ]
+# bumper[5] [ -0.25 0.22 128 0.105 0.0 ]
+# bumper[6] [ -0.32 0.12 161 0.105 0.0 ]
+# bumper[7] [ -0.34 0.00 180 0.105 0.0 ]
+# bumper[8] [ -0.32 -0.12 199 0.105 0.0 ]
+# bumper[9] [ -0.25 -0.22 232 0.105 0.0 ]
+# )
+
+
+# The Pioneer3DX standard configuration
+define pioneer3dx pioneer_base
+(
+ # Actual size
+ size [0.511 0.4 0.22 ]
+
+ # The pioneer's center of rotation is offset from its center of area
+ origin [-0.04465 0.0 0.0]
+
+ # Estimated mass in KG
+ mass 23.0
+
+ # Body shape:
+ blocks 1
+ block[0].points 8
+ block[0].point[0] [-0.12 0.2555]
+ block[0].point[1] [0.12 0.2555]
+ block[0].point[2] [0.2 0.12]
+ block[0].point[3] [0.2 -0.12]
+ block[0].point[4] [0.12 -0.2555]
+ block[0].point[5] [-0.12 -0.2555]
+ block[0].point[6] [-0.2 -0.12]
+ block[0].point[7] [-0.2 0.12]
+
+ # Use the sonar array defined above
+ p3dx_sonar()
+
+ # Use the laser lms200
+ sicklms200( pose [0.12 0 0] )
+
+)
+
+# The Pioneer3AT standard configuration
+define pioneer3at pioneer_base
+(
+ # Actual size
+ size [0.626 0.505]
+
+ # The pioneer's center of rotation is offset from its center of area
+ origin [-0.04465 0.0 0.0]
+
+ # Estimated mass in KG
+ mass 40.0
+
+ # Body shape:
+ blocks 1
+ block[0].points 8
+ block[0].point[0] [-0.18 0.313]
+ block[0].point[1] [0.18 0.313]
+ block[0].point[2] [0.2525 0.18]
+ block[0].point[3] [0.2525 -0.18]
+ block[0].point[4] [0.18 -0.313]
+ block[0].point[5] [-0.18 -0.313]
+ block[0].point[6] [-0.2525 -0.18]
+ block[0].point[7] [-0.2525 0.18]
+
+ # Use the sonar array defined above
+ p3at_sonar()
+)
+
+
+### AMIGOBOT ####
+
+# The AmigoBot sonar array
+define amigo_sonar ranger
+(
+ scount 8
+ spose[0] [ 0.073 0.105 90 ]
+ spose[1] [ 0.130 0.078 41 ]
+ 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 ]
+ spose[7] [ -0.146 0.060 145 ]
+)
+
+define amigobot position
+(
+ size [0.330 0.280 0.25]
+ origin [0 0 0 0] # what should this value be? send email to [EMAIL PROTECTED]
+ amigo_sonar( pose [0 0 -0.02 0 ] )
+)
Copied: code/stage/trunk/worlds/inc/pucktarget.inc (from rev 6802,
code/stage/trunk/worlds/pucktarget.inc)
===================================================================
--- code/stage/trunk/worlds/inc/pucktarget.inc (rev 0)
+++ code/stage/trunk/worlds/inc/pucktarget.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,29 @@
+
+define pucktarget fiducialfinder
+(
+ range_min 0.0
+ range_max 1.5
+ fov 360.0
+ samples 2
+ size [0.25 0.25]
+
+ color "purple"
+ #laser_return "bright"
+
+ # cos(18) = 0.9510565 sin(18) = 0.309017
+ # cos(54) = 0.587785 sin(54) = 0.809017
+ polygons 1
+ polygon[0].points 10
+ polygon[0].point[0] [ 0.238 0.077 ]
+ polygon[0].point[1] [ 0.1 0.1 ]
+ polygon[0].point[2] [ 0 0.250 ]
+ polygon[0].point[3] [ -0.1 0.1 ]
+ polygon[0].point[4] [ -0.238 0.077 ]
+ polygon[0].point[5] [ -0.1 -0.1 ]
+ polygon[0].point[6] [ -0.147 -0.202 ]
+ polygon[0].point[7] [ 0.0 -0.1 ]
+ polygon[0].point[8] [ 0.147 -0.202 ]
+ polygon[0].point[9] [ 0.1 -0.1 ]
+
+)
+
Copied: code/stage/trunk/worlds/inc/sick.inc (from rev 6802,
code/stage/trunk/worlds/sick.inc)
===================================================================
--- code/stage/trunk/worlds/inc/sick.inc (rev 0)
+++ code/stage/trunk/worlds/inc/sick.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,58 @@
+
+define sicklaser laser
+(
+ # laser-specific properties
+
+ # factory settings for LMS200
+ range_min 0.0
+ range_max 8.0
+ fov 180.0
+ samples 361
+
+ #samples 90 # still useful but much faster to compute
+
+ # generic model properties
+ color "blue"
+ size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
+)
+
+define fancysicklaser sicklaser
+(
+ blocks 4
+
+ # bottom
+ block[0].points 4
+ block[0].point[0] [ -0.02 -0.077 ]
+ block[0].point[1] [ 0.078 -0.077 ]
+ block[0].point[2] [ 0.078 0.077 ]
+ block[0].point[3] [ -0.02 0.077 ]
+ block[0].z [0 0.02 ]
+
+ # back
+ block[1].points 4
+ block[1].point[0] [ -0.078 -0.077 ]
+ block[1].point[1] [ -0.02 -0.077 ]
+ block[1].point[2] [ -0.02 0.077 ]
+ block[1].point[3] [ -0.078 0.077 ]
+ block[1].z [0 0.21 ]
+
+ # top
+ block[2].points 4
+ block[2].point[0] [ -0.02 -0.077 ]
+ block[2].point[1] [ 0.078 -0.077 ]
+ block[2].point[2] [ 0.078 0.077 ]
+ block[2].point[3] [ -0.02 0.077 ]
+ block[2].z [0.12 0.21 ]
+
+ # laser bit
+ block[3].points 4
+ block[3].point[0] [ -0.02 -0.05 ]
+ block[3].point[1] [ 0.06 -0.05 ]
+ block[3].point[2] [ 0.06 0.05 ]
+ block[3].point[3] [ -0.02 0.05 ]
+ block[3].z [0.02 0.12 ]
+ block[3].color "gray10"
+)
+
+
+
Copied: code/stage/trunk/worlds/inc/ubot.inc (from rev 6802,
code/stage/trunk/worlds/ubot.inc)
===================================================================
--- code/stage/trunk/worlds/inc/ubot.inc (rev 0)
+++ code/stage/trunk/worlds/inc/ubot.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -0,0 +1,29 @@
+# device definitions for the UMASS UBot
+
+# the ubot has an IR array
+define ubot_ir reb_ir
+(
+ add_noise 1
+ # noiseparams [1.913005560938 -7.728130591833] # used to generate noise
+
+ power_on 1
+ min_range 0.10 # in meters
+ max_range 0.8 # in meters
+
+ ircount 8
+ irpose[0] [ 0.035 0.0 0.0 ]
+ irpose[1] [ 0.025 0.025 45 ]
+ irpose[2] [ 0.0 0.035 90 ]
+ irpose[3] [ -0.025 0.025 135 ]
+ irpose[4] [ -0.035 0.0 180 ]
+ irpose[5] [ -0.025 -0.025 225 ]
+ irpose[6] [ 0.0 -0.035 270 ]
+ irpose[7] [ 0.025 -0.025 315 ]
+)
+
+define ubot reb_position
+(
+ size [ 0.19 0.19 ]
+ offset [ 0.0 0.0 ]
+ ubot_ir()
+)
Deleted: code/stage/trunk/worlds/irobot.inc
===================================================================
--- code/stage/trunk/worlds/irobot.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/irobot.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,38 +0,0 @@
-
-define roomba position
-(
- size [0.33 0.33 0.1]
-
- # this block approximates the circular shape of a Roomba
- blocks 1
- block[0].points 16
- block[0].point[0] [ 0.225 0.000 ]
- block[0].point[1] [ 0.208 0.086 ]
- block[0].point[2] [ 0.159 0.159 ]
- block[0].point[3] [ 0.086 0.208 ]
- block[0].point[4] [ 0.000 0.225 ]
- block[0].point[5] [ -0.086 0.208 ]
- block[0].point[6] [ -0.159 0.159 ]
- block[0].point[7] [ -0.208 0.086 ]
- block[0].point[8] [ -0.225 0.000 ]
- block[0].point[9] [ -0.208 -0.086 ]
- block[0].point[10] [ -0.159 -0.159 ]
- block[0].point[11] [ -0.086 -0.208 ]
- block[0].point[12] [ -0.000 -0.225 ]
- block[0].point[13] [ 0.086 -0.208 ]
- block[0].point[14] [ 0.159 -0.159 ]
- block[0].point[15] [ 0.208 -0.086 ]
-
- # this bumper array VERY crudely approximates the Roomba's bumpers
-# bumper( bcount 2
-# blength 0.33
-# bpose[0] [0.12 0.12 45]
-# bpose[1] [0.12 -0.12 -45]
-# )
-
- color "gray50"
-)
-
-define create roomba( color "gray90" )
-
-
Deleted: code/stage/trunk/worlds/map.inc
===================================================================
--- code/stage/trunk/worlds/map.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/map.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,29 +0,0 @@
-# map.inc - useful setup for a floorplan bitmap
-# Authors: Richard Vaughan
-# $Id$
-
-define floorplan model
-(
- # sombre, sensible, artistic
- color "gray30"
-
- # most maps will need a bounding box
- boundary 1
-
- gui_nose 0
- gui_grid 0
- gui_movemask 0
- gui_outline 0
- gripper_return 0
- fiducial_return 0
- laser_return 1
-)
-
-define zone model
-(
- color "orange"
- size [ 2 2 0.02 ]
- obstacle_return 0
- laser_return 0
- ranger_return 0
-)
Deleted: code/stage/trunk/worlds/objects.inc
===================================================================
--- code/stage/trunk/worlds/objects.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/objects.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,22 +0,0 @@
-# Desc: Some useful environmental objects
-# Author: Richard Vaughan
-# Date: 4 Jun 2002
-# CVS: $Id: objects.inc,v 1.2 2004-12-03 01:32:57 rtv Exp $
-
-# a largeish colored cylinder
-#
-define visionbeacon model
-(
- shape "circle"
- size [0.2 0.2]
- color "red"
-)
-
-# primary colored pucks for moving with the gripper
-#
-define red_puck puck( color "red" )
-define green_puck puck( color "green" )
-define blue_puck puck( color "blue" )
-
-
-
Deleted: code/stage/trunk/worlds/p3at.inc
===================================================================
--- code/stage/trunk/worlds/p3at.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/p3at.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,70 +0,0 @@
-# Desc: Device definitions for P3AT Activemedia robots.
-# Author: Luis Riazuelo [EMAIL PROTECTED]
-# Date: 13 Jun 2007
-
-# defines sick laser
-include "pioneerBase.inc"
-include "sick.inc"
-
-
-# The Pioneer3AT sonar array
-define p3at_sonar ranger
-(
- scount 16
-
- # define the pose of each transducer [xpos ypos heading]
- spose[0] [0.147 0.136 90]
- spose[1] [0.193 0.119 50]
- spose[2] [0.227 0.079 30]
- spose[3] [0.245 0.027 10]
- spose[4] [0.245 -0.027 -10]
- spose[5] [0.227 -0.079 -30]
- spose[6] [0.193 -0.119 -50]
- spose[7] [0.147 -0.136 -90]
- spose[8] [-0.144 -0.136 -90]
- spose[9] [-0.189 -0.119 -130]
- spose[10] [-0.223 -0.079 -150]
- spose[11] [-0.241 -0.027 -170]
- spose[12] [-0.241 0.027 170]
- spose[13] [-0.223 0.079 150]
- spose[14] [-0.189 0.119 130]
- spose[15] [-0.144 0.136 90]
-
- # define the field of view of each transducer [range_min range_max
view_angle]
- sview [0.1 5.0 30] # min (m), max (m), field of view (deg)
-
- # define the size of each transducer [xsize ysize] in meters
- ssize [0.01 0.04]
-)
-
-# The Pioneer3AT standard configuration
-define pioneer3at pioneerBase
-(
- # Actual size
- size [0.626 0.505]
-
- # The pioneer's center of rotation is offset from its center of area
- origin [-0.04465 0.0 0.0]
-
- # Estimated mass in KG
- mass 40.0
-
- # Body shape:
- polygons 1
- polygon[0].points 8
- polygon[0].point[0] [-0.18 0.313]
- polygon[0].point[1] [0.18 0.313]
- polygon[0].point[2] [0.2525 0.18]
- polygon[0].point[3] [0.2525 -0.18]
- polygon[0].point[4] [0.18 -0.313]
- polygon[0].point[5] [-0.18 -0.313]
- polygon[0].point[6] [-0.2525 -0.18]
- polygon[0].point[7] [-0.2525 0.18]
-
- # Use the sonar array defined above
- p3at_sonar()
-
- # Use the laser lms200
- sicklms200( pose [0.16 0 0] )
-
-)
Deleted: code/stage/trunk/worlds/p3dx.inc
===================================================================
--- code/stage/trunk/worlds/p3dx.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/p3dx.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,71 +0,0 @@
-# Desc: Device definitions for P3DX Activemedia robots.
-# Author: Luis Riazuelo [EMAIL PROTECTED]
-# Date: 13 Jun 2007
-
-# defines sick laser
-include "pioneerBase.inc"
-include "sick.inc"
-
-# The Pioneer3DX sonar array
-define p3dx_sonar ranger
-(
- scount 16
-
- # define the pose of each transducer [xpos ypos heading]
- spose[0] [ 0.069 0.136 90 ]
- spose[1] [ 0.114 0.119 50 ]
- spose[2] [ 0.148 0.078 30 ]
- spose[3] [ 0.166 0.027 10 ]
- spose[4] [ 0.166 -0.027 -10 ]
- spose[5] [ 0.148 -0.078 -30 ]
- spose[6] [ 0.114 -0.119 -50 ]
- spose[7] [ 0.069 -0.136 -90 ]
- spose[8] [ -0.157 -0.136 -90 ]
- spose[9] [ -0.203 -0.119 -130 ]
- spose[10] [ -0.237 -0.078 -150 ]
- spose[11] [ -0.255 -0.027 -170 ]
- spose[12] [ -0.255 0.027 170 ]
- spose[13] [ -0.237 0.078 150 ]
- spose[14] [ -0.103 0.119 130 ]
- spose[15] [ -0.157 0.136 90 ]
-
- # define the field of view of each transducer [range_min range_max
view_angle]
- sview [0.1 5.0 30] # min (m), max (m), field of view (deg)
-
- # define the size of each transducer [xsize ysize] in meters
- ssize [0.01 0.04]
-)
-
-# The Pioneer3DX standard configuration
-define pioneer3dx pioneerBase
-(
- # Actual size
- size [0.511 0.4]
-
- # The pioneer's center of rotation is offset from its center of area
- origin [-0.04465 0.0 0.0]
-
- # Estimated mass in KG
- mass 23.0
-
- # Body shape:
- polygons 1
- polygon[0].points 8
- polygon[0].point[0] [-0.12 0.2555]
- polygon[0].point[1] [0.12 0.2555]
- polygon[0].point[2] [0.2 0.12]
- polygon[0].point[3] [0.2 -0.12]
- polygon[0].point[4] [0.12 -0.2555]
- polygon[0].point[5] [-0.12 -0.2555]
- polygon[0].point[6] [-0.2 -0.12]
- polygon[0].point[7] [-0.2 0.12]
-
- # Use the sonar array defined above
- p3dx_sonar()
-
- # Use the laser lms200
- sicklms200( pose [0.12 0 0] )
-
-)
-
-
Deleted: code/stage/trunk/worlds/pantilt.inc
===================================================================
--- code/stage/trunk/worlds/pantilt.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/pantilt.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,33 +0,0 @@
-
-define pantiltcamera camera
-(
- width 64
- height 64
- horizfov 60
- vertfov 40
- yaw 0
- pitch 0
-
- color "black"
- size3 [ 0.1 0.07 0.05 ]
- pose [ 0.02 0 0 ]
- obstacle_return 0
- laser_return 0
- ranger_return 0
-)
-
-#TODO make a fancier model
-define fancypantiltcamer pantiltcamera
-(
- blocks 1
-
- # bottom
- block[0].points 4
- block[0].point[0] [ -2.1 0.07 ]
- block[0].point[1] [ -2.1 -0.07 ]
- block[0].point[2] [ 2.1 -0.07 ]
- block[0].point[3] [ 2.1 0.07 ]
- block[0].z [0 0.2 ]
-
-
-)
Deleted: code/stage/trunk/worlds/pioneer.inc
===================================================================
--- code/stage/trunk/worlds/pioneer.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/pioneer.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,220 +0,0 @@
-
-# Desc: Device definitions for Activemedia robots.
-# Author: Richard Vaughan, Andrew Howard
-# Date: 10 Jun 2002
-# CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $
-
-# The Pioneer2DX sonar array
-define p2dx_sonar ranger
-(
- scount 16 # the number of transducers
-
- # 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]
- sview [0 5.0 15]
-
- # define the size of each transducer [xsize ysize] in meters
- ssize [0.01 0.05]
-)
-
-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
- gui_nose 1
-
- # estimated mass in KG
- mass 15.0
-
- # use the sonar array defined above with a small vertical offset to
- # drop the sensors into the robot body
-
- #p2dx_sonar( pose [0.04 0 -0.03 0] )
-
- # differential steering model
- drive "diff"
-
- # this polygon approximates the shape of a pioneer
- blocks 1
- block[0].points 8
- block[0].point[0] [ 0.23 0.05 ]
- block[0].point[1] [ 0.15 0.15 ]
- block[0].point[2] [ -0.15 0.15 ]
- block[0].point[3] [ -0.23 0.05 ]
- block[0].point[4] [ -0.23 -0.05 ]
- block[0].point[5] [ -0.15 -0.15 ]
- block[0].point[6] [ 0.15 -0.15 ]
- block[0].point[7] [ 0.23 -0.05 ]
- block[0].z [0 0.45]
-)
-
-# a Pioneer 2 or 3 in standard configuration
-define fancypioneer2dx pioneer2dx
-(
- # this set of blocks approximates the shape of a real 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 "gray15"
-
- # 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 "gray15"
-
- # 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 "gray15"
-
- # 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
-define amigo_sonar ranger
-(
- scount 8
- spose[0] [ 0.073 0.105 90 ]
- spose[1] [ 0.130 0.078 41 ]
- 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 ]
- spose[7] [ -0.146 0.060 145 ]
-)
-
-define amigobot position
-(
- size [0.330 0.280 0.25]
- origin [0 0 0 0] # what should this value be? send email to [EMAIL PROTECTED]
- amigo_sonar()
-)
-
-
-# define 10 straight bumpers around the edge of the robot
-#
-# (these angles are correct for p2dx but the offsets are approximate - RTV)
-# format: bumper[x] [x y th length radius] (zero radius gives a straight line)
-# WARNING: bumpers are not currently supported by Stage>=1.5
-# define pioneer2dxbumper bumper
-# (
-# bumpers10
-# bumper[0] [ 0.17 -0.22 -52 0.105 0.0 ]
-# bumper[1] [ 0.24 -0.12 -19 0.105 0.0 ]
-# bumper[2] [ 0.26 0.00 0 0.105 0.0 ]
-# bumper[3] [ 0.24 0.12 19 0.105 0.0 ]
-# bumper[4] [ 0.17 0.22 52 0.105 0.0 ]
-# bumper[5] [ -0.25 0.22 128 0.105 0.0 ]
-# bumper[6] [ -0.32 0.12 161 0.105 0.0 ]
-# bumper[7] [ -0.34 0.00 180 0.105 0.0 ]
-# bumper[8] [ -0.32 -0.12 199 0.105 0.0 ]
-# bumper[9] [ -0.25 -0.22 232 0.105 0.0 ]
-# )
-
Deleted: code/stage/trunk/worlds/pioneerBase.inc
===================================================================
--- code/stage/trunk/worlds/pioneerBase.inc 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/worlds/pioneerBase.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,28 +0,0 @@
-# Common parameters to all pioneers
-define pioneerBase position (
- color "red" # Default color.
-
- drive "diff" # Differential steering model.
-
- gui_nose 1 # Draw a nose on the robot so we can see which
way it points
-
- obstacle_return 1 # Can hit things.
-
- laser_return 0 # Robot body seen by other lasers. If you want
to model
-
# real pioneers with SICK lasers, where the laser is
-
# taller than the robot.
-
- ranger_return 1 # Seen by other sonar.
-
- blobfinder_return 1 # Seen by other blobfinders.
-
- fiducial_return 2 # Seen as "2" by other fiducial sensors.
-
-# localization "odom" # Change to "gps" to have
impossibly perfect, global odometry
-# odom_error [ 0.05 0.05 0.1 ] # Odometry error or slip in X, Y and
Theta
- # (Uniform random distribution)
- localization "gps"
-
- localization_origin [0 0 0] # Start odometry at (0, 0, 0).
-
-)
Deleted: code/stage/trunk/worlds/pucktarget.inc
===================================================================
--- code/stage/trunk/worlds/pucktarget.inc 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/worlds/pucktarget.inc 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,29 +0,0 @@
-
-define pucktarget fiducialfinder
-(
- range_min 0.0
- range_max 1.5
- fov 360.0
- samples 2
- size [0.25 0.25]
-
- color "purple"
- #laser_return "bright"
-
- # cos(18) = 0.9510565 sin(18) = 0.309017
- # cos(54) = 0.587785 sin(54) = 0.809017
- polygons 1
- polygon[0].points 10
- polygon[0].point[0] [ 0.238 0.077 ]
- polygon[0].point[1] [ 0.1 0.1 ]
- polygon[0].point[2] [ 0 0.250 ]
- polygon[0].point[3] [ -0.1 0.1 ]
- polygon[0].point[4] [ -0.238 0.077 ]
- polygon[0].point[5] [ -0.1 -0.1 ]
- polygon[0].point[6] [ -0.147 -0.202 ]
- polygon[0].point[7] [ 0.0 -0.1 ]
- polygon[0].point[8] [ 0.147 -0.202 ]
- polygon[0].point[9] [ 0.1 -0.1 ]
-
-)
-
Deleted: code/stage/trunk/worlds/sample-zoo.cfg
===================================================================
--- code/stage/trunk/worlds/sample-zoo.cfg 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/worlds/sample-zoo.cfg 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,69 +0,0 @@
-# This file is a sample Player config file for use with the Zoo
-# driver/plugin.
-
-driver
-(
- name "stage"
- provides ["simulation:0" ]
- plugin "libstageplugin"
-
- # load the world
- worldfile "sample-zoo.world"
-)
-
-driver
-(
- name "zoo"
- provides [ "opaque:0" ]
- #plugin "libzooplugin"
-
- referee "libmyref.so"
- myref_message "Just a notification that MyRef is successfully loaded."
-
- controllerpath
"/home/alem/src/playerstage-release/player-1.6.4/examples/c++"
-
- species (
- name "wolf"
- population [ "robot1" ]
- #controller ( frequency 2 command "draug" )
- #controller ( frequency 3 command "lupus" )
- controller (
- command "laserobstacleavoid"
- outfilename "wolf.loa.out"
- )
- )
-
- species (
- name "sheep"
- population [ "robot2" ]
- #controller ( frequency 5 command "woolie -x 2" )
- #controller ( frequency 5 command "woolie -x 3" )
- #controller ( frequency 3 command "fuzzy" )
- controller (
- command "laserobstacleavoid"
- outfilename "sheep.loa.out"
- )
- )
-)
-
-driver
-(
- name "stage"
- provides ["6665:position:0" "6665:laser:0" "6665:sonar:0" ]
- model "robot1"
-)
-
-
-driver
-(
- name "stage"
- provides ["6666:position:0" "6666:laser:0" "6666:sonar:0" ]
- model "robot2"
-)
-
-driver
-(
- name "stage"
- provides [ "6667:position:0" "6667:position:1" ]
- model "robotX"
-)
Deleted: code/stage/trunk/worlds/sample-zoo.world
===================================================================
--- code/stage/trunk/worlds/sample-zoo.world 2008-07-08 03:25:55 UTC (rev
6803)
+++ code/stage/trunk/worlds/sample-zoo.world 2008-07-08 03:49:09 UTC (rev
6804)
@@ -1,66 +0,0 @@
-
-# Desc: 1 pioneer robot with laser
-# CVS: $Id: sample-zoo.world,v 1.3 2005-08-12 21:38:20 adam_lein Exp $
-
-# defines Pioneer-like robots
-include "pioneer.inc"
-
-
-
-
-
-# defines 'map' object used for floorplans
-include "map.inc"
-
-
-
-
-
-
-
-
-
-size [16 16]
-
-# set the size of a pixel in meters
-resolution 0.02
-
-# configure the GUI window
-window
-(
- size [ 512.000 512.000 ]
- center [-0.148 0.014]
- scale 0.040
-)
-
-# load an environment bitmap
-map
-(
- bitmap "bitmaps/cave.png"
- size [16 16]
-)
-
-# create a robot
-pioneer2dx
-(
- name "robot1"
- color "red"
- pose [-5.145 -5.689 396.691]
- laser()
-)
-
-pioneer2dx
-(
- name "robot2"
- color "magenta"
- pose [-3.559 -5.987 436.882]
- laser()
-)
-
-pioneer2dx
-(
- name "robotX"
- color "black"
- pose [-2.960 -1.680 -131.382]
-)
-
Deleted: code/stage/trunk/worlds/sick.inc
===================================================================
--- code/stage/trunk/worlds/sick.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/sick.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,58 +0,0 @@
-
-define sicklaser laser
-(
- # laser-specific properties
-
- # factory settings for LMS200
- range_min 0.0
- range_max 8.0
- fov 180.0
- samples 361
-
- #samples 90 # still useful but much faster to compute
-
- # generic model properties
- color "blue"
- size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
-)
-
-define fancysicklaser sicklaser
-(
- blocks 4
-
- # bottom
- block[0].points 4
- block[0].point[0] [ -0.02 -0.077 ]
- block[0].point[1] [ 0.078 -0.077 ]
- block[0].point[2] [ 0.078 0.077 ]
- block[0].point[3] [ -0.02 0.077 ]
- block[0].z [0 0.02 ]
-
- # back
- block[1].points 4
- block[1].point[0] [ -0.078 -0.077 ]
- block[1].point[1] [ -0.02 -0.077 ]
- block[1].point[2] [ -0.02 0.077 ]
- block[1].point[3] [ -0.078 0.077 ]
- block[1].z [0 0.21 ]
-
- # top
- block[2].points 4
- block[2].point[0] [ -0.02 -0.077 ]
- block[2].point[1] [ 0.078 -0.077 ]
- block[2].point[2] [ 0.078 0.077 ]
- block[2].point[3] [ -0.02 0.077 ]
- block[2].z [0.12 0.21 ]
-
- # laser bit
- block[3].points 4
- block[3].point[0] [ -0.02 -0.05 ]
- block[3].point[1] [ 0.06 -0.05 ]
- block[3].point[2] [ 0.06 0.05 ]
- block[3].point[3] [ -0.02 0.05 ]
- block[3].z [0.02 0.12 ]
- block[3].color "gray10"
-)
-
-
-
Deleted: code/stage/trunk/worlds/ubot.inc
===================================================================
--- code/stage/trunk/worlds/ubot.inc 2008-07-08 03:25:55 UTC (rev 6803)
+++ code/stage/trunk/worlds/ubot.inc 2008-07-08 03:49:09 UTC (rev 6804)
@@ -1,29 +0,0 @@
-# device definitions for the UMASS UBot
-
-# the ubot has an IR array
-define ubot_ir reb_ir
-(
- add_noise 1
- # noiseparams [1.913005560938 -7.728130591833] # used to generate noise
-
- power_on 1
- min_range 0.10 # in meters
- max_range 0.8 # in meters
-
- ircount 8
- irpose[0] [ 0.035 0.0 0.0 ]
- irpose[1] [ 0.025 0.025 45 ]
- irpose[2] [ 0.0 0.035 90 ]
- irpose[3] [ -0.025 0.025 135 ]
- irpose[4] [ -0.035 0.0 180 ]
- irpose[5] [ -0.025 -0.025 225 ]
- irpose[6] [ 0.0 -0.035 270 ]
- irpose[7] [ 0.025 -0.025 315 ]
-)
-
-define ubot reb_position
-(
- size [ 0.19 0.19 ]
- offset [ 0.0 0.0 ]
- ubot_ir()
-)
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