mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.4 KiB
Python
54 lines
1.4 KiB
Python
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'''
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This is an example builder script that sets up a a set of rovers to
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be driven by ArduPilot for demonstrating follow mode
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The rover has the basic set of sensors that ArduPilot needs
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To start the simulation use this:
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morse run rover_follow.py
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'''
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from morse.builder import *
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num_vehicles = 3
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for i in range(num_vehicles):
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vehicle = ATRV('Vehicle%u' % i)
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vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
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# set rovers 3 meters apart
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vehicle.translate(x=0.0, y=3*i, z=0.0)
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# add sensors needed for ArduPilot operation to a vehicle
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pose = Pose()
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vehicle.append(pose)
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imu = IMU()
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vehicle.append(imu)
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gps = GPS()
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gps.alter('UTM')
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vehicle.append(gps)
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velocity = Velocity()
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vehicle.append(velocity)
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# create a compound sensor of all of the individual sensors and stream it
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all_sensors = CompoundSensor([imu, gps, velocity, pose])
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all_sensors.add_stream('socket')
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vehicle.append(all_sensors)
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# make the vehicle controllable with speed and angular velocity
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motion = MotionVW()
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vehicle.append(motion)
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motion.add_stream('socket')
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# Environment
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env = Environment('land-1/trees', fastmode=False)
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env.set_camera_location([10.0, -10.0, 10.0])
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env.set_camera_rotation([1.0470, 0, 0.7854])
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env.set_camera_clip(clip_end=1000)
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# startup at CMAC. A location is needed for the magnetometer
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env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)
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