© Copyright 2006-2007 White Box Robotics Inc. and Frontline Robotics Inc
Finally the .world file is linked into the simulator STAGE and the various sensor readings, maps, etc.
are created and can be accessed with many types of client programs (playerv, playerjoy, playernav,
avoidance programs, etc.)
‘wbr914sim.cfg’ file code
# Desc: PC-Bot Player sample configuration file for controlling Stage
# devices
# Date: 18 Mar 2007
driver
(
name "stage"
provides ["simulation:0"]
plugin "libstageplugin"
# world file has links to .inc files and defines for all the models and
# maps
worldfile "wbr914sim.world"
)
driver( name "stage" provides ["map:0" ] model "hospital" )
# 1st robot
driver(
name "stage"
provides [ "position2d:0" "sonar:0" "laser:0" "ptz:0" "blobfinder:0" "fiducial:0"
"gripper:0" "graphics2d:0" "speech:0"]
model "pioneer1"
)
driver( name "vfh" requires [ "position2d:0" "laser:0" ] provides [ "position2d:1"
] )
# 2nd robot
driver(
name "stage"
provides ["6666:position2d:0" "6666:sonar:0" "6666:laser:0" "6666:blobfinder:0"
"6666:fiducial:0"]
model "pioneer2"
)
# 3rd robot
driver(
name "stage"
provides ["6667:position2d:0" "6667:sonar:0" "6667:laser:0"]
model "wbr914_1"
)
# 4th robot
driver(
name "stage"
provides ["6668:position2d:0" "6668:sonar:0" "6668:laser:0"]
model "wbr914_2"
)
