Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: improved rover_scanner example

This commit is contained in:
Andrew Tridgell 2018-12-04 16:52:57 +11:00
parent 6786e4b5fc
commit 480abeda3e
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/SITL/examples/Morse/rover_scanner.py
View File

@ -50,17 +50,16 @@ velocity = Velocity()
vehicle.append(velocity)
# add a 360 degree laser scanner, sitting 1m above the rover
# this is setup to be similar to the RPLidarA2
scan = Hokuyo()
scan.translate(x=0.0, z=1.0)
vehicle.append(scan)
scan.properties(Visible_arc = True)
scan.properties(laser_range = 18.0)
scan.properties(resolution = 45.0)
scan.properties(resolution = 5.0)
scan.properties(scan_window = 360.0)
scan.create_laser_arc()
# this creates sensor output like this:
# "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]}
# create a compound sensor of all of the individual sensors and stream it
all_sensors = CompoundSensor([imu, gps, velocity, pose, scan])
@ -84,7 +83,7 @@ motion.add_stream('socket')
#vehicle.append(keyboard)
# Environment
env = Environment('land-1/trees', fastmode=True)
env = Environment('land-1/trees', fastmode=False)
env.set_camera_location([10.0, -10.0, 10.0])
env.set_camera_rotation([1.0470, 0, 0.7854])
env.select_display_camera(camera)