Projects/RCLL-SS2018: gazsim-config-override.yaml

File gazsim-config-override.yaml, 2.8 KB (added by thofmann, 2 years ago)
Line 
1%YAML 1.2
2%TAG ! tag:fawkesrobotics.org,cfg/
3---
4# Here you can override configuration values needed for the real robot
5# with configuration values needed for the simulation
6# if the configuration values are the same for all simulated robots
7
8doc-url: !url http://trac.fawkesrobotics.org/wiki/Plugins/gazsim
9---
10
11#camera setup in the simulation
12plugins/light_front:
13  camera_offset_horizontal: 0
14  camera_offset_horizontal_rad: 0.0
15  camera_offset_vertical: 0
16  camera_angle_horizontal_rad: .00
17  camera_angle_vertical_rad: .00
18  threashold_brightness: 120
19  threashold_black: 80
20 
21clips-agent:
22  clips-debug: true
23  skill-sim: false
24  skill-sim-time: 0.5
25 
26  # debug level is a number of: 0 ~ none, 1 ~ minimal, 2 ~ more, 3 ~ maximum
27  debug-level: 3
28
29  # Automatically assert the (start) fact after successful initialization,
30  # otherwise wait until the an enalble message has been received
31  auto-start: false
32
33  # If set to true, will trigger the assertion of a (time (now)) fact in
34  # each loop. This can be used to trigger loop events in CLIPS.
35  assert-time-each-loop: true
36
37  rcll2016:
38    enable-sim: true
39    play-exploration-without-refbox: false
40
41skills/take_puck_to:
42   #front sensor distance when the puck is lost
43   front_sensor_dist: 0.073
44
45skills/fetch_puck:
46   #front sensor distance when fetching the puck
47   front_sensor_dist: 0.045
48
49skills/deliver_puck:
50   #front sensor distance when checking if we still have the puck at the delivery gates
51   front_sensor_dist: 0.05
52
53skills/align_distance_conveyor/x: 0.25
54
55fawkes:
56  # Main app relevant settings
57  mainapp:
58    # Size of BlackBoard memory segment; bytes
59    blackboard_size: 2097152
60    # Desired loop time of main thread, 0 to disable; microseconds
61    desired_loop_time: 66333
62    # Maximum time a thread may run per loop, 0 to disable; microseconds
63    max_thread_time: 133333
64
65# Log level for ballposlog example plugin; sum of any of
66# debug=0, info=1, warn=2, error=4, none=8
67ballposlog/log_level: 0
68
69#colli og-laser buffer:
70plugins/colli/laser_occupancy_grid/buffer_size: 4
71
72agent-monitor:
73  robotino1: "127.0.0.1:8081"
74  robotino2: "127.0.0.1:8082"
75  robotino3: "127.0.0.1:8083"
76
77plugins/amcl:
78  alpha1: 0.3
79  alpha2: 0.3
80  save_pose_period: 0.0
81  max_beams: 60
82  map_file: maps/rc-2016.png
83  origin_x: -7.0
84  origin_y: -1.1
85  map-lasergen/map_file: maps/rc-2016-wall.png
86  map-lasergen/origin_x: -7.0
87  map-lasergen/origin_y: -1.1
88
89plugins/laser-filter:
90  robot/active: false
91  sick-downsample/active: false
92  simulation/active: true
93  robot-1080/active: false
94
95laser-lines/input_cloud: urg-filtered
96
97plugins/static-transforms:
98  transforms:
99    gazsim_tag_vision:
100      frame: !frame base_link
101      child_frame: !frame gazsim_tag_vision
102      trans_x: 0.1
103      trans_y: 0.0
104      trans_z: 0.44
105      rot_pitch: 0
106      rot_yaw: 0
107      rot_roll: 0