/usr/share/player/config/umass_ATRVJr.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 | # configuration file to ATRV-Mini
# tells player which drivers to load
#note - serial port should be set in the first driver in the file
# any other's will just be ignored
# (since they actually all use the same port)
driver
(
provides ["position:0" "sonar::sonar:0" "power:0"]
name "rflex"
rflex_serial_port "/dev/ttyR0"
mm_length 800.0
mm_width 650.0
odo_distance_conversion 90.81
odo_angle_conversion 37000.0
default_trans_acceleration 500.0
default_rot_acceleration 500.0
range_distance_conversion 1.476
sonar_age 1
max_num_sonars 64
num_sonars 26
num_sonar_banks 4
num_sonars_possible_per_bank 16
num_sonars_in_bank [5 8 5 8]
sonar_echo_delay 30000
sonar_ping_delay 0
sonar_set_delay 0
mmrad_sonar_poses [-334.950 -104.390 -2.617993 -340.410 -49.910 -2.879793 -347.060 0.0000 3.141592 -340.410 49.910 2.879793 -334.950 104.390 2.617993 230.230 175.000 0.785398 172.490 178.600 1.047197 117.200 181.100 1.308997 72.260 181.100 1.570796 -72.260 181.100 1.570796 -117.200 181.100 1.832595 -172.490 178.600 2.094395 -230.230 175.000 2.356194 296.200 103.600 0.523599 301.500 49.500 0.261799 308.100 0.0000 0.000000 301.500 -49.500 -0.261799 296.200 -103.600 -0.523599 230.230 -175.000 -0.785398 172.490 -178.600 -1.047197 117.200 -181.100 -1.308997 72.260 -181.100 -1.570796 -72.260 -181.100 -1.570796 -117.200 -181.100 -1.832595 -172.490 -178.600 -2.094395 -230.230 -175.000 -2.356194]
)
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