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#! /usr/bin/env morseexec
""" MORSE Builder script for the 'ROS navigation tutorial'.
You can access the tutorial online, here:
http://www.openrobots.org/morse/doc/latest/user/advanced_tutorials/ros_nav_tutorial.html
"""
from morse.builder import *
# A 'naked' PR2 robot to the scene
james = BasePR2()
james.add_interface('ros')
james.translate(x=2.5, y=3.2, z=0.0)
# An odometry sensor to get odometry information
odometry = Odometry()
james.append(odometry)
odometry.add_interface('ros', topic="/odom")
# Keyboard control
keyboard = Keyboard()
james.append(keyboard)
scan = Hokuyo()
scan.translate(x=0.275, z=0.252)
james.append(scan)
scan.properties(Visible_arc = False)
scan.properties(laser_range = 30.0)
scan.properties(resolution = 1.0)
scan.properties(scan_window = 180.0)
scan.create_laser_arc()
scan.add_interface('ros', topic='/base_scan')
motion = MotionXYW()
motion.properties(ControlType = 'Position')
james.append(motion)
motion.add_interface('ros', topic='/cmd_vel')
# Set the environment
env = Environment('tum_kitchen/tum_kitchen', fastmode=True)
env.set_camera_rotation([1.0470, 0, 0.7854])
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