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from morse.builder import *
def equipped_robot(mw='yarp'):
# Append ATRV robot to the scene
atrv = ATRV()
# Append an actuator
motion = MotionVW()
atrv.append(motion)
# Append a Pose sensor (GPS + Gyroscope)
pose = Pose()
pose.translate(x=0.2,z=0.83)
atrv.append(pose)
# Append a sick laser
sick = Sick()
sick.translate(x=0.18,z=0.94)
atrv.append(sick)
sick.properties(resolution = 1)
sick.properties(laser_range = 5.0)
# Append a camera
cam = VideoCamera()
cam.translate(x=0.3,z=1.1)
atrv.append(cam)
cam.properties(cam_width = 128, cam_height = 128)
# Configure the middlewares
motion.add_stream(mw)
pose.add_stream(mw)
sick.add_stream(mw)
cam.add_stream(mw)
return (atrv)
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