/usr/share/player/config/mbicp.cfg is in robot-player 3.0.2+dfsg-4.1ubuntu3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | driver
(
name "p2os"
provides ["odometry:::position2d:0"]
)
driver
(
name "sicklms200"
provides ["laser:0"]
)
driver
(
name "laserposeinterpolator"
provides ["laser:1"]
requires ["laser:0" "position2d:0"]
)
driver
(
name "mbicp"
provides ["position2d:1"]
requires ["position2d:0" "laser:1"]
max_laser_range 7.9
laserPose_x 0.16
laserPose_y 0
laserPose_th 0
radial_window 0.09
angular_window 0.523333333
L 3.00
laserStep 1
MaxDistInter 0.5
filter 0.95
ProjectionFilter 1
AsocError 0.1
MaxIter 500
errorRatio 0.0001
errx_out 0.0001
erry_out 0.0001
errt_out 0.0001
IterSmoothConv 2
)
driver
(
name "nd"
provides ["position2d:2"]
requires ["output:::position2d:0" "input:::position2d:0" "laser:0" "sonar:0"]
max_speed [0.7 100.0]
min_speed [0.1 10.0]
goal_tol [0.3 15.0]
wait_on_stall 1
rotate_stuck_time 5.0
translate_stuck_time 5.0
translate_stuck_dist 0.15
translate_stuck_angle 10.0
avoid_dist 0.4
safety_dist 0.0
laser_buffer 20
sonar_buffer 20
)
|