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- '''
- 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)
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