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updating autolab example
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5 files changed

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-103
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5 files changed

+115
-103
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‎worlds/autolab.cfg‎

Lines changed: 21 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -13,57 +13,32 @@ driver(
1313
worldfile "autolab.world"
1414
)
1515

16-
driver(
17-
name "stage"
18-
model "lab"
19-
provides [ "map:0" ]
20-
)
21-
22-
driver(
23-
name "stage"
24-
provides [ "6665:ptz:0" "6665:gripper:0" "6665:position2d:0" "6665:laser:0" "6665:blobfinder:0" "6665:fiducial:0" "6665:sonar:0" "6665:graphics2d:0" ]
25-
model "mother0"
26-
)
27-
28-
# extend mother0 with VFH
29-
driver( name "vfh" requires ["6665:laser:0" "6665:position2d:0"] provides ["6665:position2d:1"] )
30-
31-
driver(
32-
name "stage"
33-
provides [ "6666:ptz:0" "6666:gripper:0" "6666:position2d:0" "6666:laser:0" "6666:blobfinder:0" "6666:fiducial:0" "6666:sonar:0" "6666:graphics2d:0" ]
34-
model "mother1"
35-
)
36-
37-
# extend mother1 with VFH
38-
driver( name "vfh" requires ["6666:laser:0" "6666:position2d:0"] provides ["6666:position2d:1"] )
39-
40-
4116
# chatterboxes
4217

4318
# all the red chatterboxes are on port 7000
44-
driver( name "stage" provides ["7000:sonar:0" "7000:sonar:1" "7000:position2d:0" ] model "cbr0" )
45-
driver( name "stage" provides ["7001:sonar:0" "7001:sonar:1 ""7001:position2d:0" ] model "cbr1" )
46-
driver( name "stage" provides ["7002:sonar:0" "7002:sonar:1" "7002:position2d:0" ] model "cbr2" )
47-
driver( name "stage" provides ["7003:sonar:0" "7003:sonar:1" "7003:position2d:0" ] model "cbr3" )
48-
driver( name "stage" provides ["7004:sonar:0" "7004:sonar:1" "7004:position2d:0" ] model "cbr4" )
49-
driver( name "stage" provides ["7005:sonar:0" "7005:sonar:1" "7005:position2d:0" ] model "cbr4" )
50-
driver( name "stage" provides ["7006:sonar:0" "7006:sonar:1" "7006:position2d:0" ] model "cbr4" )
51-
driver( name "stage" provides ["7007:sonar:0" "7007:sonar:1" "7007:position2d:0" ] model "cbr4" )
52-
driver( name "stage" provides ["7008:sonar:0" "7008:sonar:1" "7008:position2d:0" ] model "cbr4" )
53-
driver( name "stage" provides ["7009:sonar:0" "7009:sonar:1" "7009:position2d:0" ] model "cbr4" )
19+
driver( name "stage" provides ["7000:ranger:0" "7000:ranger:1" "7000:position2d:0" ] model "cbr0" )
20+
driver( name "stage" provides ["7001:ranger:0" "7001:ranger:1 ""7001:position2d:0" ] model "cbr1" )
21+
driver( name "stage" provides ["7002:ranger:0" "7002:ranger:1" "7002:position2d:0" ] model "cbr2" )
22+
driver( name "stage" provides ["7003:ranger:0" "7003:ranger:1" "7003:position2d:0" ] model "cbr3" )
23+
driver( name "stage" provides ["7004:ranger:0" "7004:ranger:1" "7004:position2d:0" ] model "cbr4" )
24+
driver( name "stage" provides ["7005:ranger:0" "7005:ranger:1" "7005:position2d:0" ] model "cbr4" )
25+
driver( name "stage" provides ["7006:ranger:0" "7006:ranger:1" "7006:position2d:0" ] model "cbr5" )
26+
driver( name "stage" provides ["7007:ranger:0" "7007:ranger:1" "7007:position2d:0" ] model "cbr6" )
27+
driver( name "stage" provides ["7008:ranger:0" "7008:ranger:1" "7008:position2d:0" ] model "cbr7" )
28+
driver( name "stage" provides ["7009:ranger:0" "7009:ranger:1" "7009:position2d:0" ] model "cbr8" )
5429

5530
# all the blue chatterboxes are on port 7001
56-
driver( name "stage" provides ["7010:sonar:0" "7010:sonar:1" "7010:position2d:0" ] model "cbb0" )
57-
driver( name "stage" provides ["7011:sonar:0" "7011:sonar:1" "7011:position2d:0" ] model "cbb1" )
58-
driver( name "stage" provides ["7012:sonar:0" "7012:sonar:1" "7012:position2d:0" ] model "cbb2" )
59-
driver( name "stage" provides ["7013:sonar:0" "7013:sonar:1" "7013:position2d:0" ] model "cbb3" )
60-
driver( name "stage" provides ["7014:sonar:0" "7014:sonar:1" "7014:position2d:0" ] model "cbb4" )
61-
driver( name "stage" provides ["7015:sonar:0" "7015:sonar:1" "7015:position2d:0" ] model "cbb4" )
62-
driver( name "stage" provides ["7016:sonar:0" "7016:sonar:1" "7016:position2d:0" ] model "cbb4" )
63-
driver( name "stage" provides ["7017:sonar:0" "7017:sonar:1" "7017:position2d:0" ] model "cbb4" )
64-
driver( name "stage" provides ["7018:sonar:0" "7018:sonar:1" "7018:position2d:0" ] model "cbb4" )
65-
driver( name "stage" provides ["7019:sonar:0" "7019:sonar:1" "7019:position2d:0" ] model "cbb4" )
31+
driver( name "stage" provides ["7010:ranger:0" "7010:ranger:1" "7010:position2d:0" ] model "cbb0" )
32+
driver( name "stage" provides ["7011:ranger:0" "7011:ranger:1" "7011:position2d:0" ] model "cbb1" )
33+
driver( name "stage" provides ["7012:ranger:0" "7012:ranger:1" "7012:position2d:0" ] model "cbb2" )
34+
driver( name "stage" provides ["7013:ranger:0" "7013:ranger:1" "7013:position2d:0" ] model "cbb3" )
35+
driver( name "stage" provides ["7014:ranger:0" "7014:ranger:1" "7014:position2d:0" ] model "cbb4" )
36+
driver( name "stage" provides ["7015:ranger:0" "7015:ranger:1" "7015:position2d:0" ] model "cbb4" )
37+
driver( name "stage" provides ["7016:ranger:0" "7016:ranger:1" "7016:position2d:0" ] model "cbb4" )
38+
driver( name "stage" provides ["7017:ranger:0" "7017:ranger:1" "7017:position2d:0" ] model "cbb4" )
39+
driver( name "stage" provides ["7018:ranger:0" "7018:ranger:1" "7018:position2d:0" ] model "cbb4" )
40+
driver( name "stage" provides ["7019:ranger:0" "7019:ranger:1" "7019:position2d:0" ] model "cbb4" )
6641

6742

6843
# extend mother1 with VFH
69-
driver( name "vfh" requires ["7000:sonar:1" "7000:position2d:0"] provides ["7000:position2d:1"] )
44+
driver( name "vfh" requires ["7000:ranger:1" "7000:position2d:0"] provides ["7000:position2d:1"] )

‎worlds/autolab.world‎

Lines changed: 47 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@
66
resolution 0.02
77

88
interval_sim 100 # milliseconds per update step
9-
interval_real 0 # real-time milliseconds per update step
109

1110
include "chatterbox.inc"
1211
include "map.inc"
@@ -23,7 +22,7 @@ window
2322

2423
# load an environment bitmap
2524
floorplan
26-
(
25+
(
2726
bitmap "bitmaps/autolab.png"
2827
size [20.000 20.000 0.500]
2928
boundary 1
@@ -35,37 +34,53 @@ define cb laserchatterbox
3534
ctrl "wander"
3635
)
3736

38-
cb( name "cb00" pose [2.451 7.364 0 0] )
39-
cb( name "cb01" pose [2.321 6.221 0 -171.141] )
40-
cb( name "cb02" pose [3.459 5.556 0 -159.523] )
41-
cb( name "cb03" pose [1.917 5.630 0 -28.297] )
42-
cb( name "cb04" pose [3.298 4.715 0 -108.654] )
43-
cb( name "cb05" pose [2.545 4.875 0 -108.654] )
44-
cb( name "cb06" pose [3.086 6.344 0 -108.654] )
45-
cb( name "cb07" pose [1.463 6.393 0 -108.654] )
46-
cb( name "cb08" pose [1.449 4.534 0 -108.654] )
47-
cb( name "cb09" pose [0.737 5.217 0 -108.654] )
48-
cb( name "cbr10" pose [1.085 -1.274 0 0] )
49-
cb( name "cbr11" pose [2.587 -1.832 0 0] )
50-
cb( name "cbr12" pose [1.812 -0.283 0 -53.892] )
51-
cb( name "cbr13" pose [3.457 -2.077 0 -28.297] )
52-
cb( name "cbr14" pose [2.083 -1.401 0 -54.883] )
53-
cb( name "cbr15" pose [1.814 -2.200 0 -54.883] )
54-
cb( name "cbr16" pose [1.787 -0.883 0 -54.883] )
55-
cb( name "cbr17" pose [1.517 -1.703 0 -54.883] )
56-
cb( name "cbr18" pose [3.125 -1.565 0 -54.883] )
57-
cb( name "cbr19" pose [4.009 -1.680 0 -54.883] )
37+
define cbr cb
38+
(
39+
color "red"
40+
)
41+
42+
define cbb cb
43+
(
44+
color "red"
45+
)
46+
47+
define cbg cb
48+
(
49+
color "green"
50+
)
51+
52+
cb( name "cbr0" pose [2.451 7.364 0 0] )
53+
cb( name "cbr1" pose [2.321 6.221 0 -171.141] )
54+
cb( name "cbr2" pose [3.459 5.556 0 -159.523] )
55+
cb( name "cbr3" pose [1.917 5.630 0 -28.297] )
56+
cb( name "cbr4" pose [3.298 4.715 0 -108.654] )
57+
cb( name "cbr5" pose [2.545 4.875 0 -108.654] )
58+
cb( name "cbr6" pose [3.086 6.344 0 -108.654] )
59+
cb( name "cbr7" pose [1.463 6.393 0 -108.654] )
60+
cb( name "cbr8" pose [1.449 4.534 0 -108.654] )
61+
cb( name "cbr9" pose [0.737 5.217 0 -108.654] )
62+
63+
cb( name "cbb0" pose [1.085 -1.274 0 0] )
64+
cb( name "cbb1" pose [2.587 -1.832 0 0] )
65+
cb( name "cbb2" pose [1.812 -0.283 0 -53.892] )
66+
cb( name "cbb3" pose [3.457 -2.077 0 -28.297] )
67+
cb( name "cbb4" pose [2.083 -1.401 0 -54.883] )
68+
cb( name "cbb5" pose [1.814 -2.200 0 -54.883] )
69+
cb( name "cbb6" pose [1.787 -0.883 0 -54.883] )
70+
cb( name "cbb7" pose [1.517 -1.703 0 -54.883] )
71+
cb( name "cbb8" pose [3.125 -1.565 0 -54.883] )
72+
cb( name "cbb9" pose [4.009 -1.680 0 -54.883] )
5873

59-
cb( name "cbr20" pose [-6.017 0.172 0 -54.883] )
60-
cb( name "cbr21" pose [-5.875 -0.860 0 -54.883] )
61-
cb( name "cbr22" pose [-6.766 -1.143 0 -54.883] )
62-
cb( name "cbr23" pose [-6.625 -0.407 0 -54.883] )
63-
cb( name "cbr24" pose [-7.021 0.540 0 -54.883] )
64-
cb( name "cbr25" pose [-7.671 -0.167 0 -54.883] )
65-
cb( name "cbr26" pose [-7.530 -1.001 0 -54.883] )
66-
cb( name "cbr27" pose [-7.445 -1.737 0 -54.883] )
67-
cb( name "cbr28" pose [-8.053 0.625 0 -54.883] )
68-
cb( name "cbr29" pose [-8.364 -0.450 0 -54.883] )
74+
cb( name "cbg0" pose [-6.017 0.172 0 -54.883] )
75+
cb( name "cbg1" pose [-5.875 -0.860 0 -54.883] )
76+
cb( name "cbg2" pose [-6.766 -1.143 0 -54.883] )
77+
cb( name "cbg3" pose [-6.625 -0.407 0 -54.883] )
78+
cb( name "cbg4" pose [-7.021 0.540 0 -54.883] )
79+
cb( name "cbg5" pose [-7.671 -0.167 0 -54.883] )
80+
cb( name "cbg6" pose [-7.530 -1.001 0 -54.883] )
81+
cb( name "cbg7" pose [-7.445 -1.737 0 -54.883] )
82+
cb( name "cbg8" pose [-8.053 0.625 0 -54.883] )
83+
cb( name "cbg9" pose [-8.364 -0.450 0 -54.883] )
6984

7085
charger( pose [-4.87 4.5 0 180] )
7186
charger( pose [-4.87 4.0 0 180] )

‎worlds/chatterbox.inc‎

Lines changed: 36 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,20 @@
66
include "irobot.inc"
77
include "hokuyo.inc"
88

9+
define cbir sensor
10+
(
11+
# define the size of each transducer [xsize ysize zsize] in meters
12+
size [0.01 0.03 0.01 ]
13+
# define the range bounds [min max]
14+
range [0 1.5]
15+
# define the angular field of view in degrees
16+
fov 20
17+
# define the number of samples spread over the fov
18+
samples 1
19+
# define the color that ranges are drawn in the gui
20+
color_rgba [ 0 1 0 0.2 ]
21+
)
22+
923
define chatterbox create
1024
(
1125
joules 100000 # todo
@@ -21,19 +35,31 @@ define chatterbox create
2135
color "yellow"
2236
obstacle_return 0
2337
)
38+
39+
model(
40+
block( points 6
41+
point[0] [-3 -1.5 ]
42+
point[1] [-3 0.5 ]
43+
point[2] [-2 1.5 ]
44+
point[3] [+2 1.5 ]
45+
point[4] [+3 0.5 ]
46+
point[5] [+3 -1.5 ]
47+
z [0 0.05]
48+
)
49+
50+
pose [-0.03 0 0 90]
51+
size [0.25 0.20 0.05 ]
52+
color "gray"
53+
)
2454

2555
ranger
2656
(
27-
scount 6
28-
spose[0] [ 0.050 0.000 0] # front forward
29-
spose[1] [ 0.050 0.050 30] # front left side
30-
spose[2] [ 0.000 0.050 90] # left side
31-
spose[3] [-0.050 0.000 180] # back backwards
32-
spose[4] [ 0.000 -0.050 -90] # right side
33-
spose[5] [ 0.050 -0.050 -30] # front right side
34-
sview [ 0 1.5 20 ]
35-
ssize [0.01 0.03 ]
36-
watts 10 # todo
57+
cbir( pose [ 0.050 0.000 0 0] ) # front forward
58+
cbir( pose [ 0.050 0.050 0 30] ) # front left side
59+
cbir( pose [ 0.000 0.050 0 90] ) # left side
60+
cbir( pose [-0.050 0.000 0 180] ) # back backwards
61+
cbir( pose [ 0.000 -0.050 0 -90] ) # right side
62+
cbir( pose [ 0.050 -0.050 0 -30] ) # front right side
3763
)
3864

3965
fiducial

‎worlds/everything.cfg‎

Lines changed: 7 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -15,52 +15,48 @@ driver
1515
# robot 0
1616
driver(
1717
name "stage"
18-
provides [ "position2d:0" "sonar:0" "laser:0" "blobfinder:0" "fiducial:0" "gripper:0" ]
18+
provides [ "position2d:0" "ranger:0" "ranger:1" "blobfinder:0" "fiducial:0" "gripper:0" ]
1919
model "robot1"
2020
)
2121

22-
driver( name "vfh" requires [ "position2d:0" "laser:0" ] provides [ "position2d:1" ] )
23-
24-
25-
2622
# robot 1
2723
driver(
2824
name "stage"
29-
provides ["6666:position2d:0" "6666:sonar:0" "6666:laser:0" "6666:blobfinder:0" "6666:fiducial:0"]
25+
provides ["6666:position2d:0" "6666:ranger:0" "6666:ranger:1" "6666:fiducial:0"]
3026
model "p1"
3127
)
3228

3329
# robot 2
3430
driver(
3531
name "stage"
36-
provides ["6667:position2d:0" "6667:sonar:0" "6667:laser:0" "6667:blobfinder:0" "6667:fiducial:0"]
32+
provides ["6667:position2d:0" "6667:ranger:0" "6667:ranger:1" "6667:fiducial:0"]
3733
model "p2"
3834
)
3935

4036
# robot 3
4137
driver(
4238
name "stage"
43-
provides ["6668:position2d:0" "6668:sonar:0" "6668:laser:0" "6668:blobfinder:0" "6668:fiducial:0"]
39+
provides ["6668:position2d:0" "6668:ranger:0" "6668:ranger:1" "6668:fiducial:0"]
4440
model "p3"
4541
)
4642

4743
# robot 4
4844
driver(
4945
name "stage"
50-
provides ["6669:position2d:0" "6669:sonar:0" "6669:laser:0" "6669:blobfinder:0" "6669:fiducial:0"]
46+
provides ["6669:position2d:0" "6669:ranger:0" "6669:ranger:1" "6669:fiducial:0"]
5147
model "p4"
5248
)
5349

5450
# robot 5
5551
driver(
5652
name "stage"
57-
provides ["6670:position2d:0" "6670:sonar:0" "6670:laser:0" "6670:blobfinder:0" "6670:fiducial:0"]
53+
provides ["6670:position2d:0" "6670:ranger:0" "6670:ranger:1" "6670:fiducial:0"]
5854
model "p5"
5955
)
6056

6157
# robot 6
6258
driver(
6359
name "stage"
64-
provides ["6671:position2d:0" "6671:sonar:0" "6671:laser:0" "6671:blobfinder:0" "6671:fiducial:0"]
60+
provides ["6671:position2d:0" "6671:ranger:0" "6671:ranger:1" "6671:fiducial:0"]
6561
model "p6"
6662
)

‎worlds/hokuyo.inc‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,13 @@
11

2-
define hokuyolaser laser
2+
define hokuyolaser ranger
33
(
4+
sensor(
45
# laser-specific properties
56
# factory settings for LMS200
6-
range_min 0.0
7-
range_max 5.0
7+
range [ 0.0 5.0 ]
88
fov 270.0
99
samples 270
10-
10+
)
1111
# generic model properties
1212
color "blue"
1313
size [ 0.07 0.07 0.05 ] # dimensions from LMS200 data sheet

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