/usr/share/player/config/umass_ATRVMini.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 | # 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
(
name "rflex"
provides ["position:0" "sonar::sonar:0" "power:0"]
rflex_serial_port "/dev/ttyS1"
mm_length 630.0
mm_width 540.0
odo_distance_conversion 194.232294147
odo_angle_conversion 64501.69726
default_trans_acceleration 1000.0
default_rot_acceleration 700.0
range_distance_conversion 1.55
sonar_age 1
max_num_sonars 64
num_sonars 24
num_sonar_banks 4
num_sonars_possible_per_bank 16
num_sonars_in_bank [6 6 6 6]
mmrad_sonar_poses [0258.170 0114.700 0.000000 0252.240 0152.170 0.314159 0235.010 0185.980 0.628318 0208.190 0212.810 0.942478 0174.380 0230.030 1.256637 0136.910 0235.970 1.570796 -0258.170 0114.700 3.141592 -0252.240 0152.170 2.827433 -0235.010 0185.980 2.513274 -0208.190 0212.810 2.199114 -0174.380 0230.030 1.884955 -0136.910 0235.970 1.570796 -0258.170 -0114.700 -3.141592 -0252.240 -0152.170 -2.827433 -0235.010 -0185.980 -2.513274 -0208.190 -0212.810 -2.199114 -0174.380 -0230.030 -1.884955 -0136.910 -0235.970 -1.570796 0258.170 -0114.700 0.000000 0252.240 -0152.170 -0.314159 0235.010 -0185.980 -0.628318 0208.190 -0212.810 -0.942478 0174.380 -0230.030 -1.256637 0136.910 -0235.970 -1.570796]
)
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