SITL: added follow example for rover

libraries/SITL/examples/Morse/rover_follow.py

@@ -0,0 +1,53 @@
+'''
+This is an example builder script that sets up a a set of rovers to
+be driven by ArduPilot for demonstrating follow mode
+
+The rover has the basic set of sensors that ArduPilot needs
+
+To start the simulation use this:
+
+  morse run rover_follow.py
+'''
+from morse.builder import *
+
+num_vehicles = 3
+
+for i in range(num_vehicles):
+    vehicle = ATRV('Vehicle%u' % i)
+    vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
+    # set rovers 3 meters apart
+    vehicle.translate(x=0.0, y=3*i, z=0.0)
+
+    # add sensors needed for ArduPilot operation to a vehicle
+    pose = Pose()
+    vehicle.append(pose)
+
+    imu = IMU()
+    vehicle.append(imu)
+
+    gps = GPS()
+    gps.alter('UTM')
+    vehicle.append(gps)
+
+    velocity = Velocity()
+    vehicle.append(velocity)
+
+    # create a compound sensor of all of the individual sensors and stream it
+    all_sensors = CompoundSensor([imu, gps, velocity, pose])
+    all_sensors.add_stream('socket')
+
+    vehicle.append(all_sensors)
+
+    # make the vehicle controllable with speed and angular velocity
+    motion = MotionVW()
+    vehicle.append(motion)
+    motion.add_stream('socket')
+
+# Environment
+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.set_camera_clip(clip_end=1000)
+
+# startup at CMAC. A location is needed for the magnetometer
+env.properties(longitude = 149.165230, latitude = -35.363261, altitude = 584.0)