# Desc: Player configuration file for controlling robot with the AMCL+wavefront driver on a Pioneer P3DX
# Author:  Chandan Datta
# Date: Feb 2012
driver
(
  name "p2os"
  provides ["odometry:::position2d:0"
            "gyro:::position2d:2"
            "sonar:0"
            "power:0"
            "bumper:0"
            "arm:::actarray:0"
            "limb:0"
            "armgrip:::gripper:0"]
  port "/dev/ttyUSB0"
  limb_pos [0.105 0 0.3185]
)

driver
(
  name "hokuyoaist"
  provides ["ranger:0"]
  pose [0.17 0.0 0.0]
  min_angle -1.5707965 #PI/2
  max_angle 1.5707965 #PI/2
  #min_dist .02
  #error_dist 5.6

)

#convenience driver to convert the ranger interface to the laser interface
driver
(
  name "rangertolaser"
  requires ["ranger:0"] # read from ranger:0
  provides ["laser:0"] # output results on laser:0
)


driver
(
  name "mapfile"
  provides ["map:0"]
  filename "dp3_indoor_200x200.pgm"
  resolution 0.025
)

driver
(
   name "vfh"
   provides ["position2d:1"]
   requires ["odometry:::position2d:0" "laser:0"]
   #safety_dist_0ms "0.15"
   #max_speed "0.2"
   distance_epsilon "0.0625"
   angle_epsilon "360"
)

driver
(
  name "amcl"
  provides ["localize:0" "position2d:3"]
  requires ["odometry:::position2d:1" "laser:0" "map:0"]
)

driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:3" "localize:0" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)