/usr/share/player/config/roomba.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 | driver
(
name "roomba"
provides ["position2d:0"]
port "/dev/ttyS2"
safe 1
alwayson 1
)
driver
(
name "urglaser"
provides ["laser:0"]
port "/dev/ttyS0"
#port "/dev/ttyACM0"
pose [0.05 0.0 0.0]
min_angle -115.0
max_angle 115.0
use_serial 1
baud 115200
alwayson 0
)
driver
(
name "vfh"
provides ["position2d:1"]
requires ["position2d:0" "laser2d:0"]
cell_size 0.1
window_diameter 61
sector_angle 1
safety_dist 0.3
max_speed 0.3
max_turnrate_0ms 50
max_turnrate_1ms 30
)
|