/usr/share/player/config/magellan.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 | # Magellan config for player 2.0, courtesy of Jon Klippenstein
driver
(
name "rflex"
provides ["sonar:::sonar:0" "position2d:0"
"bumper:0" "power:0" "ir:0"]
rflex_serial_port "/dev/ttyUSB0"
m_length 0.5
m_width 0.5
odo_distance_conversion 31387 #44.5097
odo_angle_conversion 4654.2 #5818.0204
default_trans_acceleration 0.1
default_rot_acceleration 0.1
range_distance_conversion 1.474
sonar_age 1
# assuming this is us, 16 sonars @ 2Hz gives 31.250 ms
# add a small ping delay to help ignore stray echos
# for a max distance of ~5.1m
sonar_ping_delay 1250
sonar_echo_delay 30000
max_num_sonars 64
num_sonars 16
num_sonar_banks 2
num_sonars_possible_per_bank 16
num_sonars_in_bank [8 8]
# mmrad is theta, x, y in rad, mm, mm respectively.
mrad_sonar_poses [
4.3197 -76.5367 -184.7759
3.9270 -141.4214 -141.4214
3.5343 -184.7759 -76.5367
3.1416 -200.0000 0.0000
2.7489 -184.7759 76.5367
2.3562 -141.4214 141.4214
1.9635 -76.5367 184.7759
1.5708 0.0000 200.0000
1.1781 76.5367 184.7759
0.7854 141.4214 141.4214
0.3927 184.7759 76.5367
0 200.0000 0
-0.3927 184.7759 -76.5367
-0.7854 141.4214 -141.4214
-1.1781 76.5367 -184.7759
-1.5708 0.0000 -200.0000
]
pose_count 16
rflex_bank_count 2
rflex_banks [8 8]
poses [
-76.5367 -184.7759 247.5000
-141.4214 -141.4214 225.0000
-184.7759 -76.5367 202.5000
-200.0000 0.0000 180.0000
-184.7759 76.5367 157.5000
-141.4214 141.4214 135.0000
-76.5367 184.7759 112.5000
0.0000 200.0000 90.0000
184.7759 -76.5367 -22.5000
141.4214 -141.4214 -45.0000
76.5367 -184.7759 -67.5000
0.0000 -200.0000 -90.0000
76.5367 184.7759 67.5000
141.4214 141.4214 45.0000
184.7759 76.5367 22.5000
200.0000 0 0
]
bumper_count 16
)
|