From: <db...@br...> - 2006-03-21 16:47:34
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> Shape =EF=BF=BDcircle=EF=BF=BD I wonder if it has something to do with the non-ascii quotes that you hav= e wrapped around the word... -Doug > hi all, > > I am trying to use PS for simulation and modelling of sensors > mounted on > customised robots which match the specifications of the robots which > we have in our lab. > Since the existing robot has a circular base i would like to create > a corresponding model ( Circular shape) > in PS. I would like to as to how i can do this. In the myrobot.inc > file i tried mentioning the shape "circle" > but couldn't see any change in shape (previously it was rectangle). > Also in the world file i tried to create boxes which are circular in > shape but could'nt do so. > below i have metioned both simple1.world and myrobot.inc file. > > -------------------------------simple.world--------------------------= ----- > # Desc: 1 pioneer robot with laser > # CVS: $Id: simple.world,v 1.31 2005/02/08 06:50:01 rtv Exp $ > > # defines customised robots > include "myrobot.inc" > > #defines a puck object > include "puck1.inc" > > # defines 'map' object used for floorplans > include "map.inc" > > # set the size of a pixel in meters > resolution 0.02 > > # configure the GUI window > window > ( > size [ 662.000 654.000 ] > center [0.221 -0.005] > scale 0.025 > ) > > # load an environment bitmap > map > ( > bitmap "bitmaps/cave1.png" > size [15 15] > boundary 1 > ) > > model > ( > shape "circle" > size [0.2 0.2] > color "black" > pose [0.0 0.0 0.0] > > ) > > > # create a robot > myrobot > ( > color "green" > name "robot1" > pose [2 1 0] > laser() > ) > > myrobot > ( > color "red" > name "robot2" > pose [4 1 45] > laser() > > ------------------myrobot.inc--------------------------------------= ------------- > > # This is an include file > # We use 'define' construct to define a new type of entity > > > define myrobot_idar ranger > ( > > scount 8 > # define the pose of each transducer [xpos ypos heading] > spose[0] [ 0.000 0.130 90 ] > spose[1] [ 0.130 0.000 0 ] > spose[2] [ 0.000 -0.130 -90] > spose[3] [-0.130 0.000 180] > spose[4] [ 0.120 0.120 45 ] > spose[5] [0.120 -0.120 -45] > spose[6] [-0.120 -0.120 225] > spose[7] [-0.120 0.120 135] > > # define the field of view of each transducer [range_min > range_max view_angle] > sview[0] [0 0.6 720] > sview[1] [0 0.6 720] > sview[2] [0 0.6 720] > sview[3] [0 0.6 720] > sview[4] [0 0.6 720] > sview[5] [0 0.6 720] > sview[6] [0 0.6 720] > sview[7] [0 0.6 720] > ) > > define myrobot position > ( > > #actual size > Shape =EF=BF=BDcircle=EF=BF=BD > size [0.5 0.4] > > > #use the differential type of drive for the robot > drive "diff" > > #centre of rotation of my_robot is away from the axis > origin [0 0 0] > > #use the ir sensor array defined above > myrobot_idar() > ) > > also would like to know how should i configure my ir sensors. right > now i just tried to modify the given sonar array. Is that the way or > there is something extra? > would like to hear from you and would be thankful for the same, > regard > > > -- > Guru Prasad M Hegde > Mobile Robotics Lab,GCDSL > Indian Institute of Science (IISc). > |