ROS – .world类型文件
floorplan model 地图参数初始化
define floorplan model
(
color "gray30"
boundary 1
gui_nose 1
gui_grid 1
gui_outline 1
gripper_return 1
fiducial_return 0
ranger_return 1
)
floorplan
(
name "willow"
bitmap "../maps/willow.pgm"
size [58.4 52.6 0.5]
pose [20 30 0 0]
)
robot model 机器人参数初始化
define pr2 position
(
size [0.65 0.65 0.25]
origin [-0.05 0 0]
gui_nose 1
drive "omni"
topurg (pose [0.275 0 0 0])
)
define topurg ranger
(
sensor
(
range_max 30.0 #定义传感器的最大探测范围
fov 270.25 #定义传感器的探测夹角
samples 1081 #定义激光束
)
color "black" #定义激光颜色
size [ 0.05 0.05 0.1 ] #定义传感器的尺寸大小
)
pr2
(
pose [28 25 0 0] #定义pr2在全局坐标系中的起始位置,对amcl中起始位置参数设置有影响
name "pr2"
color "blue"
)
block model 添加新的障碍物
define block model
(
size [0.5 0.5 0.5]
gui_nose 0
)
block
(
pose [0.7000 0.000 0.000 0.000 ]
color "red"
)