remove

bash_src/data.debug

-Debug file for the robot initialization
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-Thu May 21 16:11:28 2020
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-
-Module : robotinfo
-   type      differential     enum number        0
-   name      smr
-
-Module : odometry
-   cl           0.000102
-   cr           0.000102
-   w            0.260000
-   robotlength  0.265000
-   ts           0.010000
-   maxtick          1000
-   control             0
-   enctype             0
-
-Module : motion control
-   ts           0.010000
-   line_gain    0.050000
-   line_tau     10.000000
-   line_alfa    0.300000
-   wall_gain    1.000000
-   wall_tau     0.700000
-   wall_alfa    0.200000
-   gain         1.000000
-   tau          0.160000
-   alfa         0.200000
-   drive_kangle 2.250000
-   drive_kdist  4.800000
-   w            0.260000
-   robotlength  0.265000
-   lim          0.200000
-   stopdist     0.180000
-   alarmdist    0.100000
-   velcmd       0.300000
-   acccmd       0.300000
-   nolinedist   0.200000
-
-Module : motor control
-   velscalel    100.000000
-   velscaler    100.000000
-   kp           66.000000
-   ki           10.000000
-
-Module : line sensor
-   size                8
-   k_filt       0.750000
-
-Module : filter
-   measurementnoise_std_x           0.100000
-   measurementnoise_std_y           0.110000
-   processnoise_std_stearingangle   0.010000
-   processnoise_std_dist            0.020000
-   type                  EKF
-   run                          1
-   use                          0
-   size_input                   2
-   size_state                   3
-   size_noise_process           2
-   size_output                  2
-   size_noise_output            2
-   gpsoffset_easting     0.000000
-   gpsoffset_northing    0.000000
-
-Module : gpsmouse
-   hostname     localhost
-   port             9500
-   SBAS                0
-   run                 1
-   use                 1
-

bash_src/ulmsserver.ini

-# script to load URG and simulated laser scanner module
-server imagepath="."
-server datapath="."
-server replayPath="foo"
-module load="laserpool"
-module load="odopose"
-# other support modules
-module load="mapPose"
-module load="utmPose"
-module load="var"
-module load="aupoly.so.0"
-module load="mapbase.so.0"
-# define laserscanner to use
-scanset devtype=replay devname="laser_0.log"
-scanset devtype=urg devname="/dev/ttyACM0"
-scanset def=urg
-scanset mirror=true
-scanset width=180
-# uncomment next 2 lines to use fake laserscanner (in simulated environment)
-; scanset devtype=fake devname="urg"
-; scanset def=fake
-# set scanner position in robot coordinates
-scanset x=0.2 y=0.0 z=0.05
-scanget
-# localizer
-module load="aulocalize.so.0"
-; init localizer
-setInitPose x=0 y=0 th=0
-setInitCov Cx=0.04 Cy=0.04 Cth=0.04
-addline polyline="mapWall*"
-
-