SITL: added rover_scanner.py example for Morse

libraries/SITL/examples/Morse/rover_scanner.py

@@ -0,0 +1,94 @@
+'''
+This is an example builder script that sets up a rover in Morse to
+be driven by ArduPilot.
+
+The rover has the basic set of sensors that ArduPilot needs
+
+To start the simulation use this:
+
+  morse run rover.py
+
+Then connect with ArduPilot like this:
+
+  sim_vehicle.py --model morse --console --map
+
+This model assumes you will setup a skid-steering rover with left throttle on
+channel 1 and right throttle on channel 2, which means you need to set:
+
+  SERVO1_FUNCTION 73
+  SERVO3_FUNCTION 74
+'''
+from morse.builder import *
+
+# use the ATRV rover
+vehicle = ATRV()
+vehicle.properties(Object = True, Graspable = False, Label = "Vehicle")
+vehicle.translate(x=0.0, z=0.0)
+
+# add a camera
+camera = SemanticCamera(name="Camera")
+camera.translate(x=0.2, y=0.3, z=0.9)
+vehicle.append(camera)
+camera.properties(cam_far=800)
+camera.properties(Vertical_Flip=True)
+
+# we could optionally stream the video to a port
+#camera.add_stream('socket')
+
+# 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)
+
+# add a 360 degree laser scanner, sitting 1m above the rover
+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(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])
+all_sensors.add_stream('socket')
+
+vehicle.append(all_sensors)
+
+# make the vehicle controllable with speed and angular velocity
+# this will be available on port 60001 by default
+# an example command is:
+# {"v":2, "w":1}
+# which is 2m/s fwd, and rotating left at 1 radian/second
+motion = MotionVW()
+vehicle.append(motion)
+motion.add_stream('socket')
+
+# this would allow us to control the vehicle with a keyboard
+# we don't enable it as it causes issues with sensor consistency
+#keyboard = Keyboard()
+#keyboard.properties(Speed=3.0)
+#vehicle.append(keyboard)
+
+# Environment
+env = Environment('land-1/trees', fastmode=True)
+env.set_camera_location([10.0, -10.0, 10.0])
+env.set_camera_rotation([1.0470, 0, 0.7854])
+env.select_display_camera(camera)
+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)