<?xml version="1.0"?> <?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?> <runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="Straight flying"> <!-- <run start="0.0" end="100" dt="0.00833333" --> <run start="0.0" end="10000000" dt="0.001" {% if plane %} motion_multiplier="1" {% endif %} time_warp="1" enable_gui="true" network_gui="false" start_paused="false"/> <stream_port>50051</stream_port> <stream_ip>localhost</stream_ip> <end_condition>all_dead</end_condition> <!-- time, one_team, none--> <grid_spacing>10</grid_spacing> <grid_size>1000</grid_size> <terrain>{% if terrain %}{{ terrain }}{% else %}mcmillan{% endif %}</terrain> <background_color>191 191 191</background_color> <!-- Red Green Blue --> <gui_update_period>10</gui_update_period> <!-- milliseconds --> <plot_tracks>false</plot_tracks> <output_type>all</output_type> <show_plugins>false</show_plugins> <metrics>SimpleCollisionMetrics</metrics> <log_dir>~/.scrimmage/logs</log_dir> {% if plane %} <latitude_origin>{% if lat %}{{ lat }}{% else %}32.42553{% endif %}</latitude_origin> <longitude_origin>{% if lon %}{{ lon }}{% else %}-84.79109{% endif %}</longitude_origin> <altitude_origin>{% if alt %}{{ alt }}{% else %}75{% endif %}</altitude_origin> {% else %} <latitude_origin>{% if lat %}{{ lat }}{% else %}34.458281{% endif %}</latitude_origin> <longitude_origin>{% if lon %}{{ lon }}{% else %}-84.180209{% endif %}</longitude_origin> <altitude_origin>{% if alt %}{{ alt }}{% else %}450{% endif %}</altitude_origin> {% endif %} <show_origin>true</show_origin> <origin_length>10</origin_length> <network>LocalNetwork</network> <network>GlobalNetwork</network> <entity_interaction>SimpleCollision</entity_interaction> <entity_interaction enable_startup_collisions="false" remove_on_collision="false">GroundCollision</entity_interaction> <!-- uncomment "seed" and use integer for deterministic results --> <!--<seed>2147483648</seed>--> <!-- ========================== TEAM 1 ========================= --> {% for e in entities %} <entity> <team_id>1</team_id> <color>77 77 255</color> <count>1</count> <health>1</health> <radius>1</radius> <x>{% if e.x %}{{ e.x }}{% else %}0{% endif %}</x> <y>{% if e.y %}{{ e.y }}{% else %}0{% endif %}</y> <z>{% if e.z %}{{ e.z }}{% else %}0{% endif %}</z> {% if plane %}<pitch>-20</pitch>{% endif %} <heading>{% if e.heading %}{{ e.heading }}{% else %}0{% endif %}</heading> <sensor>RigidBody6DOFStateSensor</sensor> <controller>DirectController</controller> <!-- Use this settings in SITL --> <autonomy to_ardupilot_port="{% if e.to_ardupilot_port %}{{ e.to_ardupilot_port }}{% else %}9003{% endif %}" from_ardupilot_port="{% if e.from_ardupilot_port %}{{ e.from_ardupilot_port }}{% else %}9002{% endif %}" to_ardupilot_ip="{% if e.to_ardupilot_ip %}{{ e.to_ardupilot_ip }}{% else %}127.0.0.1{% endif %}" {% if plane %} >ArduPilot</autonomy> <!-- Use this settings in HIL through mavproxy --> <!-- <autonomy to_ardupilot_port="5501" from_ardupilot_port="5502" mavproxy_mode="true">ArduPilot</autonomy> --> <!-- <motion_model drawVel="0" drawAngVel="0" drawAcc="0" use_launcher="1" launch_time="60" launch_accel="200">${motion_model=JSBSimControl}</motion_model> --> <motion_model drawVel="0" drawAngVel="0" drawAcc="0">{% if e.motion_model %}{{ e.motion_model }}{% else %}JSBSimControl{% endif %}</motion_model> <script_name>rascal_no_autopilot.xml</script_name> <visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}zephyr-blue{% endif %}</visual_model> {% else %} servo_map="[ motor_0 0 1000 +2000 346.41 1200.0 +1 ] [ motor_1 1 1000 +2000 346.41 1200.0 +1 ] [ motor_2 2 1000 +2000 346.41 1200.0 +1 ] [ motor_3 3 1000 +2000 346.41 1200.0 +1 ]" >ArduPilot</autonomy> <motion_model write_csv="true">{% if e.motion_model %}{{ e.motion_model }}{% else %}Multirotor{% endif %}</motion_model> <visual_model>{% if e.visual_model %}{{ e.visual_model }}{% else %}iris{% endif %}</visual_model> {% endif %} </entity> {% endfor %} </runscript>