DMAP-localizer/cappero.world at main · CogSP/DMAP-localizer · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
window
(
  size [ 1327 2114 ] # in pixels
  scale 20.   # pixels per meter
  center [ 0.000 0.000 ]
  rotate [ 0.000  0.000 ]

  show_data 1              # 1=on 0=off
)


define block model
(
  size [0.500 0.500 0.500]
  gui_nose 0
)


define topurg ranger
(
	sensor(
    range [ 0.0  30.0 ]
    fov 270.25
   samples 1081
  )

  # generic model properties
  color "black"
  size [ 0.050 0.050 0.100 ]
)

define erratic position
(
  #size [0.415 0.392 0.25]
  size [0.150 0.150 0.150]
  origin [-0.050 0.000 0.000 0.000]
  gui_nose 1
  drive "diff"
  topurg(pose [ 0.050 0.000 0.000 0.000 ])
)

# define some obstacle
define block model
(
  size [0.2 0.2 0.2]
  gui_nose 1
  obstacle_return 1
  ranger_return 1.0
  gui_outline 1
  gui_move 1
)


define floorplan model
(
  # sombre, sensible, artistic
  color "gray30"

  # most maps will need a bounding box
  boundary 1

  gui_nose 0
  gui_grid 0

  gui_outline 0
  gripper_return 0
  fiducial_return 0
  ranger_return 1.000
)

# set the resolution of the underlying raytrace model in meters
resolution 0.05

interval_sim 100  # simulation timestep in milliseconds


window
(
  size [ 745 448 ]

  rotate [ 0.000 -1.560 ]
  scale 28.806
)

# load an environment bitmap
floorplan
(
   name "diag_1"
   bitmap "cappero_map.png"
   size   [106.913 49.3527 0.5]
   pose   [0 0 0 0]
)

# throw in a robot
erratic( pose [ -4 -13 0.000 180.000 ] name "era" color "blue")

# throw in obstacles
block(name "obstacle_red" color "red" pose [ -3 -12 0.000 180.000 ])
block(name "obstacle_purple" color "purple" pose [ -3 -11 0.000 150.000 ])