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argos_11bots.xml
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argos_11bots.xml
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<system threads="0" />
<experiment length="600"
ticks_per_second="10"
random_seed="1" />
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<footbot_central_controller id="fcentral"
library="controllers/footbot_central/libfootbot_central_controller.so" >
<actuators>
<footbot_wheels implementation="default" />
<footbot_leds implementation="default" />
<footbot_beacon implementation="default" />
<!--<wifi implementation="default" />-->
</actuators>
<sensors>
<footbot_proximity implementation="rot_z_only" show_rays="false" calibrate="true" />
<!--<wifi implementation="default" />-->
</sensors>
<parameters alpha="7.5" delta="0.001" velocity="0">
</parameters>
</footbot_central_controller>
<footbot_lql_collector id="fdc"
library="controllers/footbot_lql_collector/libfootbot_lql_collector.so">
<actuators>
<footbot_wheels implementation="default" />
<wifi implementation="extern" />
<footbot_leds implementation="default" />
<footbot_beacon implementation="default" />
</actuators>
<sensors>
<footbot_proximity implementation="rot_z_only" show_rays="true" calibrate="true" />
<footbot_encoder implementation="default"/>
<wifi implementation="default" />
</sensors>
<parameters Random_Seed="98765" alpha="7.5" delta="0.001" velocity="10" interval="10" generators="0.4">
<comm trafficGenType="TRAFFIC_NONE" />
<ledcontrol mode="NONE" fixedColor="blue"/>
<beaconcontrol mode="MOBILITY_LETTER_DEMO" fixedColor="blue"/>
<optimalSpeed>0.2</optimalSpeed>
<safetyMargin>0.05</safetyMargin>
<socialMargin>0.1</socialMargin>
<resolution>201</resolution>
<horizon>5</horizon>
<timeHorizon>5.0</timeHorizon>
<aperture>3.2</aperture>
<tau>0.125</tau>
<eta>0.5</eta>
<local_navigation type="HL" NH="true"/>
<rotationTau>0.5</rotationTau>
<experiment name="Demo" duration="3000000" log="false"/>
<mySensors>
<!--><footbot_front_camera implementation="default" low_level_config="/home/root/jerome/camera_config.xml" show_rays="false"/><-->
</mySensors>
<debug>
<camera active="false"/>
<console active="false"/>
<mode active="false"/>
<udp active="false" address="10.0.0.2"/>
</debug>
<path order='asc' dist='0.05'></path>
<active_sensors gyroscope="false" rab="false" proximity="false" ground="false" distance_scanner="false"/>
<mobility rotation_max_speed='0.1' continuous='false'/>
<rab min_particle_separation="0.4" particle_age="5.0" min_particle_confidence="0.1"/>
<!-- Min distance from the current position to the target position to determine it this is reached (meters)-->
<targetMinPointDistance>0.12</targetMinPointDistance>
<!-- Area bounds -->
<originAreaX>-10.0</originAreaX>
<originAreaY>-10.0</originAreaY>
<destinationAreaX>10.0</destinationAreaX>
<destinationAreaY>10.0</destinationAreaY>
</parameters>
<!--</footbot_central_controller>-->
</footbot_lql_collector>
</controllers>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="10, 10, 1">
<box id="wall_north"
position="0,10,0"
orientation="0,0,0"
size="20,0.1,0.5"
movable="false" />
<box id="wall_south"
position="0,-10,0"
orientation="0,0,0"
size="20,0.1,0.5"
movable="false" />
<box id="wall_east"
position="10,0,0"
orientation="0,0,0"
size="0.1,20,0.5"
movable="false" />
<box id="wall_west"
position="-10,0,0"
orientation="0,0,0"
size="0.1,20,0.5"
movable="false" />
<!--
You can distribute entities randomly. Here, we distribute
the entities in this way:
- the position is uniformly distributed
on the ground, in the square whose corners are (-1,-1) and (1,1)
- the orientations are non-zero only when rotating around Z and chosen
from a gaussian distribution, whose mean is zero degrees and
standard deviation is 360 degrees.
-->
<!-- all robots, except 0, are sensors,
sensors move slowly and generate data
-->
<foot-bot id="fb_0"
position="-3,-3,0"
orientation="1,1,0"
wifi_enabled="false"
controller="fcentral" />
<foot-bot id="fb_1" position="0.81,5.08,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_2" position="4.58,1.53,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_3" position="2.97,2.70,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_4" position="3.91,4.73,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_5" position="0.56,0.17,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_6" position="5.01,2.60,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_7" position="4.57,0.01,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_8" position="2.67,4.33,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_9" position="1.37,5.67,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_10" position="5.41,0.18,0" orientation="1,1,0" controller="fdc" />
<foot-bot id="fb_11" position="0.15,3.25,0" orientation="1,1,0" controller="fdc" />
<wifi-medium id="wm" number_of_nodes="11" />
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ************************************ -->
<!-- * Arena -> Physics Engines mapping * -->
<!-- ************************************ -->
<arena_physics>
<engine id="dyn2d">
<!--
You can use a regular expression to bind a set of entities.
See 'man 3 regex' to know more about regular expressions.
-->
<entity id="fb_[[:digit:]]*" />
<entity id="wall_north" />
<entity id="wall_south" />
<entity id="wall_east" />
<entity id="wall_west" />
</engine>
</arena_physics>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<visualization>
<qtopengl_render splash="false">
<camera>
<placement idx="0" position="0,0,1" look_at="0,0,0" />
<placement idx="1" position="5,0,1" look_at="5,0,0" />
<placement idx="2" position="0,5,1" look_at="0,5,0" />
<placement idx="3" position="5,5,1" look_at="5,5,0" />
</camera>
</qtopengl_render>
</visualization>
</argos-configuration>