Thanks so much for the inc file, Reed. Cheers.

jing

On 26/02/2008, Reed Hedges <reed@mobilerobots.com> wrote:
Jing Tang wrote:
> Hi guys, just wondering if anyone has got the inc file for Pioneer 1 robot?
> Thanks very much!
>



Here's what I use in MobileSim which uses Stage 2.0 currently.  I don't
know if it's 100% exact, I don't remember if I was able to find any
actual mechanical drawings for the Pioneer 1 or if I just measured one
with a tape measure.  I also have no idea what realistic odom_error
would be for a pioneer1, having never actually used one.  Also I don't
know if the Pion1 sonar had the same range as current Pioneer sonars.


# Common parameters to all pioneers
define pioneer position (
   color "red"
   drive "diff"
   gui_nose 1                  # Indicate the front.
   gui_boundary 0              # Don't draw bounding box.
   obstacle_return 1           # Can hit things.
   laser_return 1              # Robot body seen by other lasers.
   ranger_return 1             # Seen by other sonar.
   blobfinder_return 1         # Seen by other blobfinders.
   fiducial_return 2           # Seen as "2" by other fiducial sensors.

   localization "odom"         # Change to "gps" to have impossibly
perfect, global odometry
   localization_origin [0 0 0] # Start odometry at (0, 0, 0).
   odom_error [ 0.01 0.01 0.020 ]   # Odometry error or slip in X, Y and
Theta
                                    # (Uniform random distribution),
proportional
                                    # to velocity.
)

# Sonar array
define pioneerSonar ranger (
   sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
   ssize [0.01 0.04]
   laser_return 0
   blobfinder_return 0
   fiducial_return 0
)



# Model for a pion1x differential-drive robot base with sonar.
define pion1x pioneer (
   #pioneer_robot_subtype "pion1x"
   color "blue"

   # Speed profile:
   #max_speed [0.4 0 1.74]


   # Body shape:
   origin [-0.05 0.0 0.0]
   size [0.5 0.4]
   polygons 1
   polygon[0].points 8
   polygon[0].point[0] [-0.175 0.25]
   polygon[0].point[1] [0.175 0.25]
   polygon[0].point[2] [0.2 0.175]
   polygon[0].point[3] [0.2 -0.175]
   polygon[0].point[4] [0.175 -0.25]
   polygon[0].point[5] [-0.175 -0.25]
   polygon[0].point[6] [-0.2 -0.175]
   polygon[0].point[7] [-0.2 0.175]
   polygon[0].filled 1


   # Sonar:
   pioneerSonar (
     scount 7
     sview [0.1 3.5 30]
     ssize [0.01 0.04]
     spose[0] [0.1 0.13 90]
     spose[1] [0.12 0.095 30]
     spose[2] [0.13 0.05 15]
     spose[3] [0.13 0 0]
     spose[4] [0.13 -0.05 -15]
     spose[5] [0.12 -0.095 -30]
     spose[6] [0.1 -0.13 -90]
   )
)

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--
Jing Tang
School of Computer Science
University of Birmingham, UK
Mobile: +44 787 264 5655
Personal Email: jing.t86@gmail.com
School Email: ug74jxt@cs.bham.ac.uk