/usr/share/player/config/obot.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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 | #TODO: measure robot dimensions, and laser offset.
driver
(
name "obot"
provides ["position2d:0" "power:0"]
port "/dev/ttyS0"
)
driver
(
name "sicklms200"
provides ["laser:0"]
pose [0.08 0.0 0.0]
port "/dev/ttyUSB0"
invert 1
connect_rate 38400
transfer_rate 38400
alwayson 1
)
driver
(
name "vfh"
provides ["position2d:1"]
requires ["position2d:0" "laser:0"]
safety_dist_0ms 0.1
safety_dist_1ms 0.3
distance_epsilon 0.3
angle_epsilon 5
)
#driver
#(
# name "mapfile"
# provides ["map:0"]
# filename "gates-dorothy1-cropped-clean-invert.pnm"
# resolution 0.1
# negate 1
#)
#driver
#(
# name "mapcspace"
# provides ["6665:map:1"]
# requires ["6665:map:0"]
# robot_shape "circle"
# robot_radius 0.25
#)
#driver
#(
# name "mapscale"
# provides ["6665:map:2"]
# requires ["6665:map:1"]
# resolution 0.3
# alwayson 1
#)
#
#driver
#(
# name "amcl"
# provides ["localize:0" "position:2"]
#
# requires ["odometry::position:0" "laser:0" "laser::map:0"]
#
# init_pose [-20 9 0]
# init_pose_var [1 1 180]
#
# pf_max_samples 2000
# pf_min_samples 100
#
# update_thresh [0.1 3]
#
# odom_drift[0] [0.3 0.0 0.0]
# odom_drift[1] [0.0 0.2 0.0]
# odom_drift[2] [0.2 0.0 0.2]
#
# #enable_gui 1
# #alwayson 1
#)
#driver
#(
# name "vfh"
# provides ["position:1"]
# requires ["position:0" "laser:0"]
# cell_size 0.1
# window_diameter 61
# sector_angle 1
# safety_dist 0.25
# max_speed 0.5
# min_turnrate 10
# max_turnrate 100
# free_space_cutoff 1000000.0
# weight_desired_dir 5.0
# weight_current_dir 3.0
# distance_epsilon 0.35
# angle_epsilon 5
#)
#driver
#(
# name "wavefront"
# provides ["planner:0"]
# requires ["position:1" "localize:0" "map:0"]
# safety_dist 0.25
# max_radius 1.0
# dist_penalty 1.0
# distance_epsilon 0.5
# angle_epsilon 10
# replan_min_time 2.0
# replan_dist_thresh 2.0
# alwayson 1
#)
#driver
#(
# name "writelog"
# provides ["log:0"]
# requires ["position:2"]
# autorecord 0
# alwayson 0
#)
|