/usr/share/player/config/b21r_rflex_lms200.cfg is in robot-player 3.0.2+dfsg-4.1ubuntu3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | # B21r player config file using rflex drivers
# Includes Sick LMS 200 laser scanner and wifi
# Laser scanner custom installed (may vary from rwi installed scanner config)
# Toby Collett - 2004-02-11
# University of Auckland
driver
(
name "rflex"
provides ["position2d:1" "bumper:0" "sonar:0" "bank2:::sonar:1" "power:0" "ir:0"]
rflex_serial_port "/dev/ttyR0"
m_length 0.5
m_width 0.5
odo_distance_conversion 103000
odo_angle_conversion 35000
default_trans_acceleration 0.5
default_rot_acceleration 0.017
rflex_joystick 1
rflex_joy_pos_ratio 6
rflex_joy_ang_ratio -0.01
rflex_heading_home_address 49 #0x31
rflex_home_on_start 1
bumper_count 14
bumper_def [-0.216506 0.125000 -3.665191 0.261799 0.250000 0.000000 0.250000 -4.712389 0.261799 0.250000 0.216506 0.125000 -5.759586 0.261799 0.250000 0.216506 -0.125000 -6.806784 0.261799 0.250000 0.000000 -0.250000 -7.853981 0.261799 0.250000 -0.216506 -0.125000 -8.901179 0.261799 0.250000 -0.240209 0.099498 -3.534292 0.204204 0.260000 -0.099498 0.240209 -4.319690 0.204204 0.260000 0.099498 0.240209 -5.105088 0.204204 0.260000 0.240209 0.099498 -5.890486 0.204204 0.260000 0.240209 -0.099498 -6.675884 0.204204 0.260000 0.099498 -0.240209 -7.461283 0.204204 0.260000 -0.099498 -0.240209 -8.246680 0.204204 0.260000 -0.240209 -0.099498 -9.032079 0.204204 0.260000 ]
rflex_bumper_address 64 # 0x40
range_distance_conversion 1476
sonar_age 1
sonar_echo_delay 30000
sonar_ping_delay 0
sonar_set_delay 0
sonar_max_range 3000
max_num_sonars 224
num_sonars 48
num_sonar_banks 14
num_sonars_possible_per_bank 16
num_sonars_in_bank [4 4 4 4 4 4 3 3 3 3 3 3 3 3]
# theta (rads), x, y (m) in robot coordinates (x is forward)
mrad_sonar_poses [ 3.01069 -0.24786122 0.03263155 2.74889 -0.23096988 0.09567086 2.48709 -0.19833834 0.15219036 2.22529 -0.15219036 0.19833834 1.96350 -0.09567086 0.23096988 1.70170 -0.03263155 0.24786122 1.43990 0.03263155 0.24786122 1.17810 0.09567086 0.23096988 0.91630 0.15219036 0.19833834 0.65450 0.19833834 0.15219036 0.39270 0.23096988 0.09567086 0.13090 0.24786122 0.03263155 -0.13090 0.24786122 -0.03263155 -0.39270 0.23096988 -0.09567086 -0.65450 0.19833834 -0.15219036 -0.91630 0.15219036 -0.19833834 -1.17810 0.09567086 -0.23096988 -1.43990 0.03263155 -0.24786122 -1.70170 -0.03263155 -0.24786122 -1.96350 -0.09567086 -0.23096988 -2.22529 -0.15219036 -0.19833834 -2.48709 -0.19833834 -0.15219036 -2.74889 -0.23096988 -0.09567086 -3.01069 -0.24786122 -0.03263155 4.18879 -0.13000000 -0.22516660 3.92699 -0.18384776 -0.18384776 3.66519 -0.22516660 -0.13000000 3.40339 -0.25114071 -0.06729295 3.14159 -0.26000000 0.00000 2.87979 -0.25114071 0.06729295 2.61799 -0.22516660 0.13000000 2.35619 -0.18384776 0.18384776 2.09440 -0.13000000 0.22516660 1.83260 -0.06729295 0.25114071 1.57080 0.00000 0.26000000 1.30900 0.06729295 0.25114071 1.04720 0.13000000 0.22516660 0.78540 0.18384776 0.18384776 0.52360 0.22516660 0.13000000 0.26180 0.25114071 0.06729295 0.00000 0.26000000 0.00000 -0.26180 0.25114071 -0.06729295 -0.52360 0.22516660 -0.13000000 -0.78540 0.18384776 -0.18384776 -1.04720 0.13000000 -0.22516660 -1.30900 0.06729295 -0.25114071 -1.57080 0.00000 -0.26000000 -1.83260 -0.06729295 -0.25114071 -2.09440 -0.13000000 -0.22516660 -2.35619 -0.18384776 -0.18384776]
sonar_2nd_bank_start 24
rflex_power_offset 1.2 # volts
rflex_base_bank 0
rflex_bank_count 6
rflex_banks [4 4 4 4 4 4]
pose_count 24
ir_min_range 0.100
ir_max_range 0.800
rflex_ir_calib [ 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 4000 -2 ]
poses [-0.247861 0.032632 -3.272492 -0.230970 0.095671 -3.534292 -0.198338 0.152190 -3.796091 -0.152190 0.198338 -4.057890 -0.095671 0.230970 -4.319690 -0.032632 0.247861 -4.581489 0.032632 0.247861 -4.843289 0.095671 0.230970 -5.105088 0.152190 0.198338 -5.366888 0.198338 0.152190 -5.628687 0.230970 0.095671 -5.890486 0.247861 0.032632 -6.152286 0.247861 -0.032632 -6.414085 0.230970 -0.095671 -6.675884 0.198338 -0.152190 -6.937684 0.152190 -0.198338 -7.199483 0.095671 -0.230970 -7.461283 0.032632 -0.247861 -7.723082 -0.032632 -0.247861 -7.984881 -0.095671 -0.230970 -8.246680 -0.152190 -0.198338 -8.508480 -0.198338 -0.152190 -8.770280 -0.230970 -0.095671 -9.032079 -0.247861 -0.032631 -9.293879 ]
)
driver
(
name "sicklms200"
provides ["laser:0"]
port "/dev/ttyR2"
delay 0
pose [0.15 0 0]
resolution 50
range_res 1
invert 0
)
#driver
#(
# name "linuxwifi"
# provides ["wifi:0"]
#)
#driver
#(
# name "ptu46"
# provides ["ptz:0"]
# port "/dev/ttyR1"
#)
#driver
#(
# name "festival"
# provides ["speech:0"]
# libdir "/usr/share/festival/"
#)
#driver
#(
# name "bumper_safe"
# provides ["position2d:0"]
# requires ["position2d:1" "bumper:0"]
# alwayson 1
#)
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