diff --git a/bash_src/data.debug b/bash_src/data.debug deleted file mode 100644 index 3aab0882f7e1bdf7685ce2cff9211de57f8d7810..0000000000000000000000000000000000000000 --- a/bash_src/data.debug +++ /dev/null @@ -1,74 +0,0 @@ -Debug file for the robot initialization ---------------------------------------- -Thu May 21 16:11:28 2020 ---------------------------------------- - -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 - diff --git a/bash_src/ulmsserver.ini b/bash_src/ulmsserver.ini deleted file mode 100644 index d24097aa5260018a632b9332140c4508f06b9fe9..0000000000000000000000000000000000000000 --- a/bash_src/ulmsserver.ini +++ /dev/null @@ -1,32 +0,0 @@ -# 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*" - -