models/tx2-auto-3.model

   1 # Stage simulator model of 'tx2-auto-3'
   2 # Author: Jaroslav Klapálek
   3
   4 # Sensors (lidar)
   5 define ust10lx ranger
   6 (
   7         sensor(
   8                 range [ 0.0  10.0 ]
   9                 fov 270.0
  10                 samples 3243
  11         )
  12
  13         color "orange"
  14 )
  15
  16 # Sensors (camera)
  17 define simcam camera
  18 (
  19         resolution [ 640 480 ]
  20         range [ 0.2 40.0 ]
  21         fov [ 69.0 42.0 ]
  22         pantilt [ 0.0 0.0 ]
  23
  24         color "grey"
  25 )
  26
  27 define car position
  28 (
  29         size [0.565 0.29 0.175]
  30         origin [-0.165 0 0 0]
  31         gui_nose 1
  32
  33         # model (tx2-auto-3)
  34         block
  35         (
  36                 points 12
  37                 point[0] [16.43 7.25]
  38                 point[1] [16.43 9.71]
  39                 point[2] [14 12.76]
  40                 point[3] [14 16.25]
  41                 point[4] [16.43 19.29]
  42                 point[5] [16.43 21.75]
  43                 point[6] [36.63 21.75]
  44                 point[7] [39.35 17.86]
  45                 point[8] [45 16.59]
  46                 point[9] [45 12.41]
  47                 point[10] [39.35 11.14]
  48                 point[11] [36.63 7.25]
  49                 z [1 8.5]
  50         )
  51
  52         # Kola LZ
  53         block
  54         (
  55                 points 4
  56                 point[0] [7.5 0]
  57                 point[1] [7.5 6]
  58                 point[2] [18 6]
  59                 point[3] [18 0]
  60                 z [0 10.5]
  61                 color "black"
  62         )
  63
  64         # Kola PZ
  65         block
  66         (
  67                 points 4
  68                 point[0] [7.5 23]
  69                 point[1] [7.5 29]
  70                 point[2] [18 29]
  71                 point[3] [18 23]
  72                 z [0 10.5]
  73                 color "black"
  74         )
  75
  76         # Kola PP
  77         block
  78         (
  79                 points 4
  80                 point[0] [39.5 23]
  81                 point[1] [39.5 29]
  82                 point[2] [50 29]
  83                 point[3] [50 23]
  84                 z [0 10.5]
  85                 color "black"
  86         )
  87
  88         # Kola LP
  89         block
  90         (
  91                 points 4
  92                 point[0] [39.5 0]
  93                 point[1] [39.5 6]
  94                 point[2] [50 6]
  95                 point[3] [50 0]
  96                 z [0 10.5]
  97                 color "black"
  98         )
  99
 100         # Predni naraznik
 101         block
 102         (
 103                 points 4
 104                 point[0] [54.5 4.75]
 105                 point[1] [54.5 24.25]
 106                 point[2] [56.5 24.25]
 107                 point[3] [56.5 4.75]
 108                 z [9 12]
 109                 color "black"
 110         )
 111
 112         # Zadni naraznik
 113         block
 114         (
 115                 points 4
 116                 point[0] [0 6]
 117                 point[1] [0 23]
 118                 point[2] [0.5 23]
 119                 point[3] [0.5 6]
 120                 z [9 12]
 121                 color "black"
 122         )
 123
 124         # Podstavec lidaru (pod nim)
 125         block
 126         (
 127                 points 4
 128                 point[0] [28.5 12]
 129                 point[1] [28.5 17]
 130                 point[2] [33.5 17]
 131                 point[3] [33.5 12]
 132                 z [8.5 10.5]
 133                 color "blue"
 134         )
 135
 136         # Podstavec lidaru (cast lidaru)
 137         block
 138         (
 139                 points 4
 140                 point[0] [28.5 12]
 141                 point[1] [28.5 17]
 142                 point[2] [33.5 17]
 143                 point[3] [33.5 12]
 144                 z [10.5 14]
 145                 color "black"
 146         )
 147
 148         # lidar
 149         block
 150         (
 151                 points 4
 152                 point[0] [28.5 12]
 153                 point[1] [28.5 17]
 154                 point[2] [33.5 17]
 155                 point[3] [33.5 12]
 156                 z [14 17.5]
 157                 color "orange"
 158         )
 159
 160         drive "car"
 161         wheelbase 0.32
 162         localization "gps"
 163         # gps = absolute
 164         # odom = relative
 165
 166         # LiDAR
 167         # pozice v metrech, musi se pripocitat i posun stredu otaceni
 168         # a pocatecni poloha
 169         ust10lx ( pose [ -0.12 0 0.1575 0 ] size [ 0.05 0.05 0.035 ] )
 170
 171         # Camera
 172         simcam ( pose [ -0.1375 0 0.175 0 ] size [ 0.025 0.09 0.025 ] )
 173
 174         stack_children 0
 175
 176         # Omezeni na rychlost
 177         # Pokud neni uvedeno, je to +-1 na xyz, +-90 na a.
 178         # min, max
 179         # x - dopredna rychlost
 180         # y - lateralni rychlost (pro auto muze byt 0)
 181         # z - taky 0
 182         # a - zataceni (ve stupnich)
 183         velocity_bounds [ -33 33 0 0 0 0 -90 90 ]
 184 )