From f17eb4b60dc151427d0549683abb1b74e060331d Mon Sep 17 00:00:00 2001
From: manxilin <matthewlin98@hotmail.com>
Date: Sun, 24 May 2020 23:28:09 +0200
Subject: [PATCH] fkk

---
 bash_src/sim.sh             |    2 +-
 data.debug                  |    2 +-
 formerSrc/test10            |    1 +
 gmk.log                     |    0
 laser_0.log                 |  186 +-
 laser_020200524_225558.logg |    1 +
 main.sh                     |    1 +
 mrc_src/data.debug          |    2 +-
 mrc_src/main                |   33 +-
 mrc_src/test                |  306 ++
 odoPose.log                 | 8793 ++++++++++++++++++++++++++++++++++-
 odoPose20200524_224836.logg |  888 ++++
 simconfig388.xml            |   56 +
 simconfig388proj.xml        |   92 +
 ucamserver.ini              |   46 +
 ulmsserver.ini              |    4 +-
 16 files changed, 10257 insertions(+), 156 deletions(-)
 create mode 100644 gmk.log
 create mode 100644 laser_020200524_225558.logg
 create mode 100644 mrc_src/test
 create mode 100644 odoPose20200524_224836.logg
 create mode 100644 simconfig388.xml
 create mode 100644 simconfig388proj.xml
 create mode 100644 ucamserver.ini

diff --git a/bash_src/sim.sh b/bash_src/sim.sh
index ad62001..7569ea2 100644
--- a/bash_src/sim.sh
+++ b/bash_src/sim.sh
@@ -1,4 +1,4 @@
 #!usr/bin/bash
 # run the simulator
 cd ..
-simserver1 final.xml
+simserver1 simconfig388proj.xml
diff --git a/data.debug b/data.debug
index c5501aa..31c7752 100644
--- a/data.debug
+++ b/data.debug
@@ -1,6 +1,6 @@
 Debug file for the robot initialization
 ---------------------------------------
-Fri May 22 11:39:31 2020
+Sun May 24 22:00:05 2020
 ---------------------------------------
 
 Module : robotinfo
diff --git a/formerSrc/test10 b/formerSrc/test10
index 8cb6c04..ebf4687 100644
--- a/formerSrc/test10
+++ b/formerSrc/test10
@@ -2,6 +2,7 @@ drive @v 0.2 :($irdistfrontleft<0.45)|($irdistfrontmiddle<0.45)|($irdistfrontrig
 stop
 wait 3
 switch ($fiducialid)
+eval $fiducialid
 stop
 case 1 %%%%%
 turn 180 @v 0.2
diff --git a/gmk.log b/gmk.log
new file mode 100644
index 0000000..e69de29
diff --git a/laser_0.log b/laser_0.log
index ffeddfa..5a1b2ef 100644
--- a/laser_0.log
+++ b/laser_0.log
@@ -1 +1,185 @@
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diff --git a/laser_020200524_225558.logg b/laser_020200524_225558.logg
new file mode 100644
index 0000000..6e40d98
--- /dev/null
+++ b/laser_020200524_225558.logg
@@ -0,0 +1 @@
+11.650000 1163 -0.5 90 361 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.731 3.445 3.200 2.987 2.802 2.679 2.683 2.686 2.690 2.695 2.699 2.704 2.709 2.714 2.719 2.725 2.731 2.737 2.743 2.750 2.756 2.763 2.771 2.778 2.786 2.794 2.802 2.811 2.820 2.829 2.838 2.848 2.858 2.868 2.878 2.889 2.900 2.869 2.815 2.764 2.714 2.666 2.621 2.577 2.534 2.493 2.454 2.416 2.380 3.771 3.791 0.001 0.001 0.001 0.001 0.001 0.001 3.160 3.120 3.082 3.045 3.009 2.974 2.940 2.907 2.875 2.844 2.814 2.784 2.756 2.728 3.538 3.565 3.594 3.623 3.653 3.683 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.738 3.725 3.713 3.702 3.691 3.680 3.669 3.659 3.649 3.639 3.630 3.621 3.613 3.604 3.596 3.589 3.581 3.574 3.567 3.561 3.555 3.549 3.543 3.538 3.533 3.528 3.524 3.520 3.516 3.512 3.509 3.506 3.503 3.500 3.498 3.496 3.494 3.493 3.492 3.491 3.490 3.490 3.490 3.490 3.490 3.491 3.492 3.493 3.494 3.496 3.498 3.500 3.503 3.506 3.509 3.512 3.516 3.447 3.233 3.044 2.876 2.726 2.591 2.469 2.358 2.257 2.164 2.079 2.000 1.927 1.860 1.797 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 1.348 1.315 1.284 1.255 1.227 1.201 1.175 1.151 1.128 1.106 1.085 1.064 1.045 1.026 1.008 0.991 0.974 0.958 0.943 0.928 0.913 0.900 0.886 0.873 0.861 0.849 0.837 0.826 0.815 0.804 0.794 0.784 0.774 0.765 0.756 0.747 0.739 0.730 0.722 0.715 0.707 0.700 0.692 0.685 0.679 0.672 0.666 0.659 0.653 0.647 0.642 0.636 0.630 0.625 0.620 0.615 0.610 0.605 0.600 0.596 0.591 0.587 0.583 0.579 0.575 0.571 0.567 0.563 0.559 0.556 0.552 0.549 0.546 0.542 0.539 0.536 0.533 0.530 0.527 0.524 0.522 0.519 0.517 0.514 0.512 0.509 0.507 0.505 0.502 0.500 0.498 0.496 0.494 0.492 0.490 0.488 0.487 0.485 0.483 0.482 0.480 0.478 0.477 0.475 0.474 0.473 0.471 0.470 0.469 0.468 0.466 0.465 0.464 0.463 0.462 0.461 0.460 0.460 0.459 0.458 0.457 0.456 0.456 0.455 0.454 0.454 0.453 0.453 0.452 0.452 0.452 0.451 0.451 0.451 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0 1 0
diff --git a/main.sh b/main.sh
index 40a355e..dadfc90 100644
--- a/main.sh
+++ b/main.sh
@@ -33,6 +33,7 @@ echo $flag
 	  ## clean logg files
           rm -r *.logg
           ## kill all terminal processes
+	  gnome-terminal -t "close client" -x killall -9 qclient
           gnome-terminal -t "clear all" -x killall -9 bash  
           break
         fi
diff --git a/mrc_src/data.debug b/mrc_src/data.debug
index 9636c15..c59c016 100644
--- a/mrc_src/data.debug
+++ b/mrc_src/data.debug
@@ -1,6 +1,6 @@
 Debug file for the robot initialization
 ---------------------------------------
-Sat May 23 14:32:24 2020
+Sun May 24 22:57:24 2020
 ---------------------------------------
 
 Module : robotinfo
diff --git a/mrc_src/main b/mrc_src/main
index ba11398..44bf605 100644
--- a/mrc_src/main
+++ b/mrc_src/main
@@ -7,13 +7,13 @@ pi = 3.1415926535
 xOrig = 0.25
 yOrig = 0.45
 % distance from the expected robot position to the guidemark
-dist = 0.25
+dist = 0.4
 % distance from the nearest node to the guidemark
 nodeDist = 0.15
 % robot length
-length  = 0.35
+length  = 0.25
 % the first guidemark number
-gmno = 11
+gmno = 4
 % task number
 %% - 1: subtask1, follow the guidemarks
 %% - 2: subtask2, recognize unknown object
@@ -164,19 +164,20 @@ rotAng = normalizeanglerad(rotAng)
 wait 0.5
 eval rotAng
 ignoreobstacles
-turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=0.05) 
-wait 0.5
+turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)  
+wait 1.5
 ignoreobstacles
-drivew xTar yTar thTar "rad" @v 0.5 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=0.05)
+drivew xTar yTar thTar "rad" @v 0.3 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=nodeDist)
 stop
+wait 1
 call "update"
 % correct orientation
 rotAng = thTar-thCurr
 rotAng = normalizeanglerad(rotAng)
 wait 0.5
 ignoreobstacles
-turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=0.05)  
-wait 0.5
+turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)   
+wait 1
 return
 
 % function: plan
@@ -199,29 +200,35 @@ thTar = $l7
 if((xTar==xOrig)&(yTar==yOrig)) "loop"
 eval pno
 call "go"
-wait 0.5
+wait 2
 if(pno>0) "loop"
 % drive the robot to head at the target
 xTar = xEnd
 yTar = yEnd
 thTar = thEnd
 call "go"
-wait 0.5
+wait 1
+ignoreobstacles
+fwd -0.3 @v 0.1
+stop
 ignoreobstacles
 drive @v 0.1 :($irdistfrontmiddle<=dist)
+stop
 wait 0.5
 return
 
 % function: look
 % return guidemarkNumber 
 label "look"
-get "guidemark" :($fiducialid>=1)|($cmdtime>30)
-eval $guidemarkok
+wait 3 : ($fiducialid>0)
 eval $fiducialid
-gmno = $guidemarkok
+eval $guidemarkok
+gmno = $fiducialid
+eval gmno
 eval $gmkx
 eval $gmky
 eval $gmkz
+goto "look"
 return
 
 % function: backToOrig
diff --git a/mrc_src/test b/mrc_src/test
new file mode 100644
index 0000000..ce102d0
--- /dev/null
+++ b/mrc_src/test
@@ -0,0 +1,306 @@
+%Set laser scanner states
+laser "setinitpose x=0.3 y=0.3 th=0"
+laser "setinitcov Cx=0.05 Cy=0.05 Cth=0.05"
+laser "resetplanner"
+laser "push t='1' cmd='localize'"
+laser "odopose log = true"
+log $odox $odoy $odoth
+
+
+%Add 34 nodes to laser scanner
+laser "addpoint pno=1 x=-0.5 y=-0.5"
+laser "addpoint pno=2 x=2 y=-0.5"
+laser "addpoint pno=3 x=4.5 y=-0.5"
+laser "addpoint pno=4 x=0.5 y=0.5"
+laser "addpoint pno=5 x=2 y=0.5"
+laser "addpoint pno=6 x=3.5 y=0.5"
+laser "addpoint pno=7 x=-0.5 y=1.5"
+laser "addpoint pno=8 x=0.5 y=1.5"
+laser "addpoint pno=9 x=3.5 y=1.5"
+laser "addpoint pno=10 x=4.5 y=1.5"
+laser "addpoint pno=11 x=-0.5 y=2.2"
+laser "addpoint pno=12 x=0.5 y=2.2"
+laser "addpoint pno=13 x=2 y=2.2"
+laser "addpoint pno=14 x=3.5 y=2.2"
+laser "addpoint pno=15 x=4.5 y=2.2"
+laser "addpoint pno=16 x=-0.5 y=3.4"
+laser "addpoint pno=17 x=0.5 y=3.4"
+laser "addpoint pno=18 x=1.2 y=3.4"
+laser "addpoint pno=19 x=2 y=3.4"
+laser "addpoint pno=20 x=2.7 y=3.4"
+laser "addpoint pno=21 x=3.5 y=3.4"
+laser "addpoint pno=22 x=4.5 y=3.4"
+laser "addpoint pno=23 x=1.2 y=4"
+laser "addpoint pno=24 x=2.7 y=4"
+laser "addpoint pno=25 x=-0.5 y=4.6"
+laser "addpoint pno=26 x=0.5 y=4.6"
+laser "addpoint pno=27 x=2 y=4.6"
+laser "addpoint pno=28 x=3.5 y=4.6"
+laser "addpoint pno=29 x=4.5 y=4.6"
+laser "addpoint pno=30 x=-0.5 y=5.5"
+laser "addpoint pno=31 x=0.3 y=5.5"
+laser "addpoint pno=32 x=2.0 y=5.5"
+laser "addpoint pno=33 x=3.7 y=5.5"
+laser "addpoint pno=34 x=4.5 y=5.5"
+laser "addpoint pno=35 x=1.7 y=4"
+laser "addpoint pno=36 x=2.2 y=4"
+
+% Set connections
+% Out-loop: counter-clockwise
+laser "addcon pno1=1 pno2=2"
+laser "addcon pno1=2 pno2=3"
+laser "addcon pno1=3 pno2=10"
+laser "addcon pno1=10 pno2=15"
+laser "addcon pno1=15 pno2=22"
+laser "addcon pno1=22 pno2=29"
+laser "addcon pno1=29 pno2=34"
+laser "addcon pno1=34 pno2=33"
+laser "addcon pno1=33 pno2=32"
+laser "addcon pno1=32 pno2=31"
+laser "addcon pno1=31 pno2=30"
+laser "addcon pno1=30 pno2=25"
+laser "addcon pno1=25 pno2=16"
+laser "addcon pno1=16 pno2=11"
+laser "addcon pno1=11 pno2=7"
+laser "addcon pno1=7 pno2=1"
+% Out-loop: clockwise
+laser "addcon pno1=1 pno2=7"
+laser "addcon pno1=7 pno2=11"
+laser "addcon pno1=11 pno2=16"
+laser "addcon pno1=16 pno2=25"
+laser "addcon pno1=25 pno2=30"
+laser "addcon pno1=30 pno2=31"
+laser "addcon pno1=31 pno2=32"
+laser "addcon pno1=32 pno2=33"
+laser "addcon pno1=33 pno2=34"
+laser "addcon pno1=34 pno2=29"
+laser "addcon pno1=29 pno2=22"
+laser "addcon pno1=22 pno2=15"
+laser "addcon pno1=15 pno2=10"
+laser "addcon pno1=10 pno2=3"
+laser "addcon pno1=3 pno2=2"
+laser "addcon pno1=2 pno2=1"
+% Connections between out-loop and inner-loop
+laser "addcon pno1=2 pno2=5"
+laser "addcon pno1=5 pno2=2"
+laser "addcon pno1=14 pno2=15"
+laser "addcon pno1=15 pno2=14"
+laser "addcon pno1=27 pno2=32"
+laser "addcon pno1=32 pno2=27"
+laser "addcon pno1=12 pno2=11"
+laser "addcon pno1=11 pno2=12"
+% Inner-loop: counter-clockwise
+laser "addcon pno1=4 pno2=5"
+laser "addcon pno1=5 pno2=6"
+laser "addcon pno1=6 pno2=9"
+laser "addcon pno1=9 pno2=14"
+laser "addcon pno1=14 pno2=21"
+laser "addcon pno1=21 pno2=28"
+laser "addcon pno1=28 pno2=27"
+laser "addcon pno1=27 pno2=26"
+laser "addcon pno1=26 pno2=17"
+laser "addcon pno1=17 pno2=12"
+laser "addcon pno1=12 pno2=8"
+laser "addcon pno1=8 pno2=4"
+% Inner-loop: clockwise
+laser "addcon pno1=4 pno2=8"
+laser "addcon pno1=8 pno2=12"
+laser "addcon pno1=12 pno2=17"
+laser "addcon pno1=17 pno2=26"
+laser "addcon pno1=26 pno2=27"
+laser "addcon pno1=27 pno2=28"
+laser "addcon pno1=28 pno2=21"
+laser "addcon pno1=21 pno2=14"
+laser "addcon pno1=14 pno2=9"
+laser "addcon pno1=9 pno2=6"
+laser "addcon pno1=6 pno2=5"
+laser "addcon pno1=5 pno2=4"
+% Connections between inner-loop and path in maze
+laser "addcon pno1=12 pno2=13"
+laser "addcon pno1=13 pno2=12"
+laser "addcon pno1=13 pno2=14"
+laser "addcon pno1=14 pno2=13"
+laser "addcon pno1=13 pno2=19"
+laser "addcon pno1=19 pno2=13"
+% In maze: counter-clockwise
+laser "addcon pno1=35 pno2=23"
+laser "addcon pno1=23 pno2=18"
+laser "addcon pno1=18 pno2=19"
+laser "addcon pno1=19 pno2=20"
+laser "addcon pno1=20 pno2=24"
+laser "addcon pno1=24 pno2=36"
+% In maze: clockwise
+laser "addcon pno1=36 pno2=24"
+laser "addcon pno1=24 pno2=20"
+laser "addcon pno1=20 pno2=19"
+laser "addcon pno1=19 pno2=18"
+laser "addcon pno1=18 pno2=23"
+laser "addcon pno1=23 pno2=35"
+
+% Calculate cost of navigating
+laser "calculatecost"
+
+% Guidemark info
+array "gmx" 15
+array "gmy" 15
+array "gmth" 15
+pi=3.1416
+% x-coordinates
+gmx[1]=0
+gmx[2]=0
+gmx[3]=4
+gmx[4]=4
+gmx[5]=0
+gmx[6]=0
+gmx[7]=4
+gmx[8]=4
+gmx[9]=0
+gmx[10]=4
+gmx[11]=0.4
+gmx[12]=3.6
+gmx[13]=2
+gmx[14]=2
+% y-coordinates
+gmy[1]=1.5
+gmy[2]=1.5
+gmy[3]=1.5
+gmy[4]=1.5
+gmy[5]=3.5
+gmy[6]=3.5
+gmy[7]=3.5
+gmy[8]=3.5
+gmy[9]=4.7
+gmy[10]=4.7
+gmy[11]=5
+gmy[12]=5
+gmy[13]=4.0
+gmy[14]=4.0
+% z-coordinates
+gmth[1]=pi
+gmth[2]=0
+gmth[3]=pi
+gmth[4]=0
+gmth[5]=pi
+gmth[6]=0
+gmth[7]=pi
+gmth[8]=0
+gmth[9]=0
+gmth[10]=pi
+gmth[11]=-pi/2
+gmth[12]=-pi/2
+gmth[13]=pi
+gmth[14]=0
+
+% Define guidemark number 
+num = 1
+
+% Go to node 4 
+% Get the current location in world frame
+%invtrans $l0 $l1 $l2 $odox $odoy $odoth
+%xw = $res0
+%yw = $res1
+%thw = $res2
+% Drive to node 4
+%ndx = 0.5
+%ndy = 0.5
+%dx = ndx - xw
+%dy = ndy - yw
+%ang = -thw
+%turn ang "rad"
+%fwd dx
+%turn 90
+%fwd dy
+num = 2
+
+% Navigate through guidemarks
+label"GuidemarkTour"
+	% Want to go to guidemark 1
+	tgmx = gmx[num] % Off set term determined by orientation of guidemark pose. If 0, the inner side of the wall, so shift to the left.
+	tgmy = gmy[num]
+	tgmth = gmth[num]
+	delx = (tgmth==0)*0.4 + (tgmth==pi)*-0.4 
+	dely = (tgmth==-pi/2)*-0.4
+	tgmx = tgmx + delx
+	tgmy = tgmy + dely
+	fang = (tgmth==0)*pi + (tgmth==pi)*0 + (tgmth==-pi/2)*pi/2
+	% Get current location in world frame
+	invtrans $l0 $l1 $l2 $odox $odoy $odoth
+	xw = $res0
+	yw = $res1
+	% Start planning
+	stringcat "findroute startx="xw "starty="yw "endx="tgmx "endy="tgmy
+	laser "$string"
+	wait 1
+	N = $l4
+	cost = $l5
+	% Drive to target guidemark
+	label"Drive"
+		% Take coordinates
+		stringcat "getpoint p="N
+		laser "$string"
+		x = $l5
+		y = $l6
+		th = $l7
+		% Drive to middle points
+		drivew x y th "rad":($targetdist<0.25)
+		N = N - 1
+	if(N>=0)"Drive"
+	wait 1
+	% Adjust pose
+	invtrans $l0 $l1 $l2 $odox $odoy $odoth
+	xw = $res0
+	yw = $res1
+	thw = $res2
+	% Turn and face guidemark
+	ang = fang - thw
+	turn ang "rad"
+	stop
+	% Read new guidemark value
+	wait 1
+	num = $fiducialid
+	eval num
+if(num<30&num!=-1)"GuidemarkTour"
+
+
+% Now Back to origin
+fang = -3/4*pi
+invtrans $l0 $l1 $l2 $odox $odoy $odoth
+xw = $res0
+yw = $res1
+stringcat "findroute startx="xw "starty="yw "endx="0.5 "endy="0.5
+laser "$string"
+wait 1
+N = $l4
+cost = $l5
+% Lable names must be distinctive.
+label"Drive2"
+	% Take coordinates
+	stringcat "getpoint p="N
+	laser "$string"
+	x = $l5
+	y = $l6
+	th = $l7
+	% Drive to the point
+	drivew x y th "rad":($targetdist<0.25)
+	N = N - 1
+if(N>=0)"Drive2"
+wait 1
+invtrans $l0 $l1 $l2 $odox $odoy $odoth
+xw = $res0
+yw = $res1
+thw = $res2
+ang = fang - thw
+turn ang "rad"
+fwd 0.25
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/odoPose.log b/odoPose.log
index b1aa6ba..b8b367d 100644
--- a/odoPose.log
+++ b/odoPose.log
@@ -1,137 +1,8656 @@
-43.550000 0.250 0.000 0.00000 0.000 -1 1589978726.331746
-43.570000 0.250 0.250 0.00000 0.000 -1 1589978726.371911
-46.990000 0.250 0.250 -0.00550 0.000 -1 1589978729.780203
-47.110000 0.253 0.250 -0.00590 0.000 -1 1589978729.910461
-47.170000 0.256 0.250 -0.00590 0.000 -1 1589978729.972338
-47.220000 0.260 0.250 -0.00630 0.000 -1 1589978730.020815
-47.260000 0.263 0.250 -0.00630 0.000 -1 1589978730.060200
-47.300000 0.267 0.250 -0.00630 0.000 -1 1589978730.100743
-47.330000 0.270 0.250 -0.00590 0.000 -1 1589978730.130003
-47.360000 0.273 0.250 -0.00590 0.000 -1 1589978730.164415
-47.390000 0.277 0.250 -0.00590 0.000 -1 1589978730.190372
-47.420000 0.281 0.250 -0.00590 0.000 -1 1589978730.220418
-47.450000 0.285 0.250 -0.00590 0.000 -1 1589978730.250062
-47.470000 0.288 0.250 -0.00550 0.000 -1 1589978730.270413
-47.490000 0.291 0.250 -0.00550 0.000 -1 1589978730.290309
-47.510000 0.294 0.250 -0.00590 0.000 -1 1589978730.310529
-49.690000 0.296 0.250 0.00040 0.000 -1 1589978732.510604
-49.720000 0.296 0.250 0.00590 0.000 -1 1589978732.541967
-49.740000 0.296 0.250 0.01140 0.000 -1 1589978732.560111
-49.760000 0.296 0.250 0.01770 0.000 -1 1589978732.581050
-49.780000 0.296 0.250 0.02560 0.000 -1 1589978732.600998
-49.800000 0.296 0.250 0.03310 0.000 -1 1589978732.619990
-49.820000 0.296 0.250 0.04220 0.000 -1 1589978732.640722
-49.840000 0.296 0.250 0.05240 0.000 -1 1589978732.660543
-49.850000 0.296 0.250 0.05790 0.000 -1 1589978732.670055
-49.860000 0.296 0.250 0.06340 0.000 -1 1589978732.679948
-49.870000 0.296 0.250 0.06940 0.000 -1 1589978732.690283
-49.880000 0.296 0.250 0.07530 0.000 -1 1589978732.700593
-49.890000 0.296 0.250 0.08160 0.000 -1 1589978732.710374
-49.900000 0.296 0.250 0.08790 0.000 -1 1589978732.720544
-49.910000 0.296 0.250 0.09500 0.000 -1 1589978732.729971
-49.920000 0.296 0.250 0.10170 0.000 -1 1589978732.740944
-49.930000 0.296 0.250 0.10840 0.000 -1 1589978732.750321
-49.940000 0.296 0.250 0.11620 0.000 -1 1589978732.760756
-49.950000 0.296 0.250 0.12410 0.000 -1 1589978732.770159
-49.960000 0.296 0.250 0.13160 0.000 -1 1589978732.780105
-49.970000 0.296 0.250 0.13990 0.000 -1 1589978732.791009
-49.980000 0.296 0.250 0.14860 0.000 -1 1589978732.800019
-49.990000 0.296 0.250 0.15720 0.000 -1 1589978732.810083
-50.000000 0.296 0.250 0.16550 0.000 -1 1589978732.820026
-50.010000 0.296 0.250 0.17460 0.000 -1 1589978732.830716
-50.020000 0.296 0.250 0.18400 0.000 -1 1589978732.840060
-50.030000 0.296 0.250 0.19350 0.000 -1 1589978732.852918
-50.040000 0.296 0.250 0.20290 0.000 -1 1589978732.860503
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diff --git a/simconfig388.xml b/simconfig388.xml
new file mode 100644
index 0000000..a6342f0
--- /dev/null
+++ b/simconfig388.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" ?>
+<!--
+    Configuration file for 
+    Simulator Server
+-->
+
+<simserver>
+  <!-- *** Core Components Configuration *** -->
+  <!-- Sheduler configuration -->
+  <scheduler>
+    <period value="10000"/><!--in usec-->
+  </scheduler>
+  
+  <!-- Simulator configuration -->
+  <simstage>
+    <world wallmap="388wall" linemap="388line" scale="200" gmno="2" 
+     gmpose="1.9 1.0 0"/>
+  </simstage>
+  
+  <!-- Robot server no. 0 -->
+  <robot>
+    <mrcserver port="8000"/>
+    <clients number="5"/>
+    <params name="smr0" robotpose="0  1.0 0" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19001" laserpose="0.26 0.0 0.0"/>
+  </robot>
+  
+  <!-- Robot server no. 1 
+  <robot>
+    <mrcserver port="8001"/>
+    <clients number="5"/>
+    <params name="smr1"  robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19001" laserpose="0.26 0 0"/>
+  </robot>
+  -->
+  <!-- Robot server no. 2 
+  <robot>
+    <mrcserver port="8002"/>
+    <clients number="4"/>
+    <params name="smr2" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19002"/>
+  </robot>
+-->
+  <!-- Robot server no. 3 
+  <robot>
+    <mrcserver port="8003"/>
+    <clients number="5"/>
+    <params name="smr3" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19003"/>
+  </robot>
+-->
+</simserver>
diff --git a/simconfig388proj.xml b/simconfig388proj.xml
new file mode 100644
index 0000000..c5aeda8
--- /dev/null
+++ b/simconfig388proj.xml
@@ -0,0 +1,92 @@
+<?xml version="1.0" ?>
+<!--
+    Configuration file for 
+    Simulator Server
+-->
+
+<simserver>
+  <!-- *** Core Components Configuration *** -->
+  <!-- Sheduler configuration -->
+  <scheduler>
+    <period value="10000"/><!--in usec-->
+  </scheduler>
+  
+  <!-- Simulator configuration -->
+  <simstage>
+    <world wallmap="388project" linemap="" scale="150" yoff="775"/>
+    1
+    <guidemark  gmno="1" gmpose=" 0 1.5 3.14 "/>
+    2
+    <guidemark gmno="7" gmpose=" 0 1.5 0"/>
+    3
+    <guidemark gmno="6" gmpose=" 4.0 1.5 3.14 "/>
+    4
+    <guidemark gmno="4" gmpose=" 4.0 1.5 0"/>
+    5
+    <guidemark gmno="5" gmpose=" 0.0 3.5 3.14"/>
+    6
+    <guidemark gmno="12" gmpose=" 0.0 3.5 0"/>
+    7
+    <guidemark gmno="11" gmpose=" 4.0 3.5 3.14"/>
+    8
+    <guidemark gmno="5" gmpose=" 4.0 3.5 0.0"/>
+    9
+    <guidemark gmno="5" gmpose=" 0.0 4.5 0.0"/>
+    10
+    <guidemark gmno="5" gmpose=" 4.0 4.5 3.14"/>
+    11
+    <guidemark gmno="3" gmpose=" 0.5 5.0 -1.57"/>
+    12
+    <guidemark gmno="13" gmpose=" 3.5 5.0 -1.57"/>
+    13
+    <guidemark gmno="98" gmpose=" 2.0 4.0 3.14"/>
+    14
+    <guidemark gmno="98" gmpose=" 2.0 4.0  0"/>
+  </simstage>
+  
+  <!-- Robot server no. 0 -->
+  <!-- Robot size: 0.35*0.3 -->
+  <robot>
+    <mrcserver port="8000"/>
+    <clients number="5"/>
+    <params name="smr0" robotpose="0.25 0.45 0" wheelbase="0.26" encresolution="0.00010245"/>
+      <corner x="0" y="-0.15"/>
+    <corner x="0.35" y="-0.15"/>
+    <corner x="0.35" y="0.15"/>
+    <corner x="0" y="0.15"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19001" laserpose="0.26 0.0 0.0"/>
+  </robot>
+  
+  <!-- Robot server no. 1 
+  <robot>
+    <mrcserver port="8001"/>
+    <clients number="5"/>
+    <params name="smr1"  robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/>
+     <corner x="-0.1" y="-0.15"/>
+    <corner x="0.25" y="-0.15"/>
+    <corner x="0.25" y="0.15"/>
+    <corner x="-0.1" y="0.15"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19001" laserpose="0.26 0 0"/>
+  </robot>
+  -->
+  <!-- Robot server no. 2 
+  <robot>
+    <mrcserver port="8002"/>
+    <clients number="4"/>
+    <params name="smr2" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19002"/>
+  </robot>
+-->
+  <!-- Robot server no. 3 
+  <robot>
+    <mrcserver port="8003"/>
+    <clients number="5"/>
+    <params name="smr3" wheelbase="0.26" encresolution="0.00010245"/>
+    <irsensor ka="16.0" kb="76.0"/>
+    <laserscanner port="19003"/>
+  </robot>
+-->
+</simserver>
diff --git a/ucamserver.ini b/ucamserver.ini
new file mode 100644
index 0000000..1fa5b97
--- /dev/null
+++ b/ucamserver.ini
@@ -0,0 +1,46 @@
+# camera server scriptfile
+server imagepath="."
+server datapath="."
+server replayPath="foo"
+# server port=24920
+#
+module load=var
+module load=gmk
+var gmk.diagonal=0
+module load=odopose
+module load=mappose
+module load=utmpose
+module load="aukinect.so.0"
+module load="aucamrectify.so.0"
+module load="austereo.so.0"
+module load="auvarmrc.so.0"
+module load="ausmr.so.0"
+module load=if alias="mrc"
+mrc hup
+module load=if alias="laser"
+module load=augps.so.0
+module load=mapbase.so.0
+module load=aurule.so.0
+module load=aurhdif.so.0
+rhd hup
+module load=aupoly.so.0
+# other /dev/video cameras - v4lgst in 16.04, aucamera in 18.04
+module load=aucamera.so.0
+module load=auv4lgst.so.0
+# camera parameters
+camset device=10 fps=7 width=320 gain=auto shutter=auto focallength=715
+camset device=10 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1
+camset device=18 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1 focallength=532
+camset device=19 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1 focallength=532
+# ballfinder
+module load="auball.so.0"
+var ball.poolImg=18
+var ball.redHue=120
+var ball.blueHue=5
+var ball.hough="300 20 50"
+var ball.ballSize=0.15
+# some test images
+poolset img=70 loadpng="/vhome/jca/replay/31388/balls_backlight.png"
+poolset img=71 loadpng="/vhome/jca/replay/31388/balls_crosslight.png"
+poolset img=72 loadpng="/vhome/jca/replay/31388/balls_night.png"
+# end of script
diff --git a/ulmsserver.ini b/ulmsserver.ini
index bf14169..3e2a765 100644
--- a/ulmsserver.ini
+++ b/ulmsserver.ini
@@ -40,5 +40,5 @@ module load='auplan.so.0'
 ## initialize graph planner
 resetplanner
 ## set Kalman parameters
-setInitPose x=0.25 y=0.45 th=0
-setInitCov Cx=0.01 Cy=0.01 Cth=0.01
\ No newline at end of file
+setinitpose x=0.25 y=0.45 th=0
+setinitcov Cx=0.01 Cy=0.01 Cth=0.01
\ No newline at end of file
-- 
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