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pathpla_mission_0_100.xml
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pathpla_mission_0_100.xml
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<argos-configuration>
<framework>
<system threads="0" />
<experiment length="120" random_seed="100" real_time="true" ticks_per_second="10" vss_host="10.0.1.199" vss_port="4050" />
</framework>
<controllers>
<path_planning_controller id="path" library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libpathplanning.so">
<actuators>
<epuck_wheels implementation="default" />
<epuck_base_leds implementation="default" medium="leds" />
<epuck_rgb_leds implementation="default" medium="leds" />
</actuators>
<sensors>
<epuck_proximity calibrated="true" implementation="default" low_level_config="/home/root/jkuckling/icepop/calibrations/low_level_configuration/proximity_sensor.xml" show_rays="false" />
<gps_virtual_sensor implementation="default" />
<destination_virtual_sensor implementation="default" />
</sensors>
<params anglePrecision="5" batteryTimeStepThreshold="30" forceRandomWalkAfterNoUpdateFor="0" placementPrecision="0.03" proximityRepulsionForce="8" proximityRepulsionForceNoise="4" proximitySignificativeThreshold="0.1">
<recharge_destination rot="0" x="0.0" y="0.0" />
</params>
</path_planning_controller>
</controllers>
<loop_functions label="simplified_pathplanning_loop_functions" library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libsimplified_pathplanning_loop_functions.so">
<pathplanning assigment="min_max_assignment_generator" maxTimeAfterBudgetPlacement="30" minProcentPlacementBudget="0.9" path="dijkstra_path_generator" randomDistribution="true" robotType="epuck" robots="20" sharedDestination="true" tickBudget="0" timestepInPosition="0">
<distribute>
<position center="0,0,0" method="circularUniform" radius="1.2" />
<orientation max="0,0,360" method="uniform" min="0,0,0" />
<entity max_trials="1000" />
</distribute>
</pathplanning>
</loop_functions>
<arena center="0,0,0" size="2.5, 2.5, 1">
<floor id="floor" pixels_per_meter="50" source="loop_functions" />
<e-puck id="epuck_19_82">
<body orientation="0,0,0" position="0,-0.4,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_01_87">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_16_50">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_03_51">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_08_57">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_15_89">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_09_72">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_12_40">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_11_76">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_04_77">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_22_80">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_14_48">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_20_83">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_17_84">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_23_85">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_07_86">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_02_33">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_21_88">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_13_34">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
<e-puck id="epuck_05_52">
<body orientation="0,0,0" position="0.4,-0.6,0" />
<controller config="path" />
</e-puck>
</arena>
<physics_engines>
<iridia_tracking_system
id="its"
translate_x="0"
translate_y="0"
its_host="10.129.240.162"
its_port="4040"
topic="odometry/filtered"
/>
<dynamics2d id="dyn2d" />
</physics_engines>
<media>
<led id="leds" />
</media>
<visualization>
<qt-opengl splash="false">
<!--user_functions label="pathplanning_qt_user_functions" library="/home/trackingsystem/jkuckling/argos3-tycho/devel/lib/libsimplified_pathplanning_loop_functions.so" /-->
<camera>
<placement idx="0" lens_focal_length="40" look_at="0,0,0" position="0.1,0,4.5" />
<placement idx="1" lens_focal_length="20" look_at="0.0626103,-0.878381,4.21662" position="11.0602409,-1.0072,5.20828" />
<placement idx="2" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="3" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="4" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="5" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="6" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="7" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="8" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="9" lens_focal_length="20" look_at="0,0,0" position="-2,0,2" />
<placement idx="10" lens_focal_length="20" look_at="-0.767266,-0.849514,-0.0764431" position="-0.767635,-0.840317,0.923515" />
</camera>
</qt-opengl>
</visualization>
</argos-configuration>