# Desc: Test world for playing around
# Author:  Abe Shultz
# Date: 5 January 2010


# load the Stage plugin simulation driver
driver
(		
  name "stage"
  provides ["simulation:0" ]
  plugin "libstageplugin"

  # load the named file into the simulator
  worldfile "ams_test_1.world"	
)

# Export the map
driver
(		
  name "stage"
  provides ["map:0" ]
  model "hospital_sec"
)

# Create a Stage driver and attach position2d and laser interfaces 
# to the model "robot1"
driver
( 
  name "stage"
  provides ["position2d:0" "laser:0" "sonar:0"]
  model "robot1" 
)

# Demonstrates use of a Player "abstract driver": one that doesn't
# interface directly with hardware, but only with other Player devices.
# The VFH driver attempts to drive to commanded positions without 
# bumping into obstacles.
driver 
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0" ]
)

# Add the adaptive monte carlo localizer to try to get position data from the 
# combination of the laser and the map
driver
(
  name "amcl"
  provides ["localize:0" "position2d:3"]
  requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
)

# Add the wavefront planner to plot waypoints from the position data
driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["input:::position2d:3" "output:::position2d:1" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
  alwayson 0
)