1 # romaa.inc
   2 # RoMAA robot model for Stage 3.1.0
   3 # Author: Gonzalo F. Perez Paina
   4 
   5 define romaa position
   6 (
   7   # specify the size of the model
   8 	size [0.570 0.520 0.200]
   9 
  10   # the romaa's center of rotation is offset from its center of area
  11 	origin [-0.111 0 0 0]
  12 
  13 	obstacle_return 1									# can hit things
  14 	laser_return 1										# reflect laser beams
  15 	ranger_return 1										# reflect sonar beams
  16 	blobfinder_return 1								# seen by blobfinders
  17 	fiducial_return 1									# seen as "1" fiducial finders
  18 
  19 	# main body
  20 	block(
  21 		points 10
  22 		point[0] [ 0.174 0.142 ]
  23 		point[1] [ 0.0962 0.260 ]
  24 		point[2] [ -0.136 0.260 ]
  25 		point[3] [ -0.344 0.221 ]
  26 		point[4] [ -0.396 0.109 ]
  27 
  28 		point[5] [ -0.396 -0.109 ]
  29 		point[6] [ -0.344 -0.221 ]
  30 		point[7] [ -0.136 -0.260 ]
  31 		point[8] [ 0.0962 -0.260 ]
  32 		point[9] [ 0.174 -0.142 ]
  33 		z [0.07 0.3]
  34     color "blue"
  35 	)
  36 
  37 	# sensors base
  38 	block(
  39 		points 4
  40 		point[0] [ 0.12 0.16 ]
  41 		point[1] [ 0.04 0.16 ]
  42 		point[2] [ 0.04 -0.16 ]
  43 		point[3] [ 0.12 -0.16 ]
  44 		z [0.3 0.31]
  45 		color "black"
  46 	)
  47 
  48 	# left wheel
  49 	block(
  50 		points 4
  51 		point[0] [ 0.075 0.240 ]
  52 		point[1] [ -0.075 0.240 ]
  53 		point[2] [ -0.075 0.210 ]
  54 		point[3] [ 0.075 0.210 ]
  55 		z [0 0.07]
  56 		color "black"
  57 	)
  58 
  59 	# right wheel
  60 	block(
  61 		points 4
  62 		point[0] [ 0.075 -0.210 ]
  63 		point[1] [ -0.075 -0.210 ]
  64 		point[2] [ -0.075 -0.240 ]
  65 		point[3] [ 0.075 -0.240 ]
  66 		z [0 0.07]
  67 		color "black"
  68 	)
  69 
  70 	# castor
  71 	block(
  72 		points 4
  73 		point[0] [ -0.336 0.01 ]
  74 		point[1] [ -0.396 0.01 ]
  75 		point[2] [ -0.396 -0.01 ]
  76 		point[3] [ -0.336 -0.01 ]
  77 		z [0 0.07]
  78 		color "black"
  79 	)
  80 
  81   # differential-steer model
  82 	drive "diff"
  83   # estimated mass in KG
  84 	mass 35
  85 
  86 	localization "odom"							  # odometric localization with simple error model
  87 	#	odom_error [ 0.05 0.05 0.1 ]    # Odometry error or slip in X, Y and Theta
  88 )
  89 
  90 define romaa_sonar_front ranger
  91 (
  92   scount 8                          # the number of transducers
  93 
  94   # define the pose of each transducer [xpos ypos heading]
  95   spose[0] [ 0.075 0.240 90 ]
  96   spose[1] [ 0.124 0.190 50 ]
  97   spose[2] [ 0.154 0.120 30 ]
  98   spose[3] [ 0.154 0.05 10 ]
  99   spose[4] [ 0.154 -0.05 -10 ]
 100   spose[5] [ 0.154 -0.120 -30 ]
 101   spose[6] [ 0.124 -0.190 -50 ]
 102   spose[7] [ 0.075 -0.240 -90 ]
 103 
 104   # define the field of view of each transducer [range_min range_max view_angle]
 105   #sview [0 5.0 15]
 106   sview [0 5.0 30]
 107 
 108   # define the size of each transducer [xsize ysize] in meters
 109   ssize [0.01 0.05]
 110 )
 111 
 112 define romaa_sonar_all ranger
 113 (
 114   scount 16                          # the number of transducers
 115 
 116   # define the pose of each transducer [xpos ypos heading]
 117   spose[0] [ 0.075 0.240 90 ]
 118   spose[1] [ 0.124 0.190 50 ]
 119   spose[2] [ 0.154 0.120 30 ]
 120   spose[3] [ 0.154 0.05 10 ]
 121   spose[4] [ 0.154 -0.05 -10 ]
 122   spose[5] [ 0.154 -0.120 -30 ]
 123   spose[6] [ 0.124 -0.190 -50 ]
 124   spose[7] [ 0.075 -0.240 -90 ]
 125   spose[8] [ -0.324 0.200 90 ]
 126   spose[9] [ -0.350 0.155 130 ]
 127   spose[10] [ -0.376 0.109 150 ]
 128   spose[11] [ -0.376 0.05 170 ]
 129   spose[12] [ -0.376 -0.05 -170 ]
 130   spose[13] [ -0.376 -0.109 -150 ]
 131   spose[14] [ -0.350 -0.155 -130 ]
 132   spose[15] [ -0.324 -0.200 -90 ]
 133 
 134   # define the field of view of each transducer [range_min range_max view_angle]
 135   #sview [0 5.0 15]
 136   sview [0 5.0 30]
 137 
 138   # define the size of each transducer [xsize ysize] in meters
 139   ssize [0.01 0.05]
 140 )
 141 
 142 define romaa_front_sonar romaa
 143 (
 144   # use the sonar array defined above with a small vertical offset to
 145   # drop the sensors into the robot body
 146   romaa_sonar_front( pose [0 0 -0.1 0] )
 147 )
 148 
 149 define romaa_sonar romaa
 150 (
 151   # use the sonar array defined above with a small vertical offset to
 152   # drop the sensors into the robot body
 153   romaa_sonar_all( pose [0 0 -0.1 0] )
 154 )