mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.9 KiB
Python
95 lines
2.9 KiB
Python
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'''
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This is an example builder script that sets up a rover in Morse to
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be driven by ArduPilot.
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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.py
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Then connect with ArduPilot like this:
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sim_vehicle.py --model morse --console --map
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This model assumes you will setup a skid-steering rover with left throttle on
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channel 1 and right throttle on channel 2, which means you need to set:
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SERVO1_FUNCTION 73
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SERVO3_FUNCTION 74
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'''
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from morse.builder import *
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# use the ATRV rover
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vehicle = ATRV()
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vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
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vehicle.translate(x=0.0, z=0.0)
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# add a camera
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camera = SemanticCamera(name="Camera")
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camera.translate(x=0.2, y=0.3, z=0.9)
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vehicle.append(camera)
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camera.properties(cam_far=800)
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camera.properties(Vertical_Flip=True)
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# we could optionally stream the video to a port
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#camera.add_stream('socket')
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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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# add a 360 degree laser scanner, sitting 1m above the rover
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scan = Hokuyo()
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scan.translate(x=0.0, z=1.0)
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vehicle.append(scan)
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scan.properties(Visible_arc = True)
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scan.properties(laser_range = 18.0)
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scan.properties(resolution = 45.0)
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scan.properties(scan_window = 360.0)
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scan.create_laser_arc()
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# this creates sensor output like this:
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# "vehicle.scan": {"timestamp": 1543891359.949892, "point_list": [[0.0, 0.0, 0.0], [-8.97607135772705, -8.976069450378418, -8.642673492431641e-07], [9.677023626863956e-10, -15.284374237060547, 5.738123718401766e-07], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "range_list": [18.0, 12.694079399108887, 15.284374237060547, 18.0, 18.0, 18.0, 18.0, 18.0, 18.0]}
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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, scan])
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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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# this will be available on port 60001 by default
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# an example command is:
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# {"v":2, "w":1}
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# which is 2m/s fwd, and rotating left at 1 radian/second
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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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# this would allow us to control the vehicle with a keyboard
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# we don't enable it as it causes issues with sensor consistency
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#keyboard = Keyboard()
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#keyboard.properties(Speed=3.0)
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#vehicle.append(keyboard)
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# Environment
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env = Environment('land-1/trees', fastmode=True)
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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.select_display_camera(camera)
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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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