You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
53 lines
1.4 KiB
53 lines
1.4 KiB
''' |
|
This is an example builder script that sets up a a set of rovers to |
|
be driven by ArduPilot for demonstrating follow mode |
|
|
|
The rover has the basic set of sensors that ArduPilot needs |
|
|
|
To start the simulation use this: |
|
|
|
morse run rover_follow.py |
|
''' |
|
from morse.builder import * |
|
|
|
num_vehicles = 3 |
|
|
|
for i in range(num_vehicles): |
|
vehicle = ATRV('Vehicle%u' % i) |
|
vehicle.properties(Object = True, Graspable = False, Label = "Vehicle") |
|
# set rovers 3 meters apart |
|
vehicle.translate(x=0.0, y=3*i, z=0.0) |
|
|
|
# add sensors needed for ArduPilot operation to a vehicle |
|
pose = Pose() |
|
vehicle.append(pose) |
|
|
|
imu = IMU() |
|
vehicle.append(imu) |
|
|
|
gps = GPS() |
|
gps.alter('UTM') |
|
vehicle.append(gps) |
|
|
|
velocity = Velocity() |
|
vehicle.append(velocity) |
|
|
|
# create a compound sensor of all of the individual sensors and stream it |
|
all_sensors = CompoundSensor([imu, gps, velocity, pose]) |
|
all_sensors.add_stream('socket') |
|
|
|
vehicle.append(all_sensors) |
|
|
|
# make the vehicle controllable with speed and angular velocity |
|
motion = MotionVW() |
|
vehicle.append(motion) |
|
motion.add_stream('socket') |
|
|
|
# Environment |
|
env = Environment('land-1/trees', fastmode=False) |
|
env.set_camera_location([10.0, -10.0, 10.0]) |
|
env.set_camera_rotation([1.0470, 0, 0.7854]) |
|
env.set_camera_clip(clip_end=1000) |
|
|
|
# startup at CMAC. A location is needed for the magnetometer |
|
env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)
|
|
|