From fe8d2500474f0ac7310ea377ca60bed1a563d684 Mon Sep 17 00:00:00 2001
From: manxilin <matthewlin98@hotmail.com>
Date: Mon, 25 May 2020 17:02:57 +0200
Subject: [PATCH] mission 1 completed

---
 final.xml                   |  78 ----
 final_project_final         | 693 ----------------------------
 laser_020200524_225558.logg |   1 -
 log                         |   0
 main.sh                     |   5 +
 mrc_src/data.debug          |   2 +-
 mrc_src/main                |  73 ++-
 mrc_src/spawnNodes          |   6 +-
 mrc_src/test                | 306 -------------
 odoPose20200524_224836.logg | 888 ------------------------------------
 simconfig388.xml            |  56 ---
 11 files changed, 59 insertions(+), 2049 deletions(-)
 delete mode 100644 final.xml
 delete mode 100644 final_project_final
 delete mode 100644 laser_020200524_225558.logg
 delete mode 100644 log
 delete mode 100644 mrc_src/test
 delete mode 100644 odoPose20200524_224836.logg
 delete mode 100644 simconfig388.xml

diff --git a/final.xml b/final.xml
deleted file mode 100644
index 0c76f64..0000000
--- a/final.xml
+++ /dev/null
@@ -1,78 +0,0 @@
-<?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="-0.1" 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 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/final_project_final b/final_project_final
deleted file mode 100644
index b272e75..0000000
--- a/final_project_final
+++ /dev/null
@@ -1,693 +0,0 @@
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%FINAL PROJECT%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%31388%%%%%%%%%%%%%%%%%%%
-%%%%%%%%Advanced Autonomous Robots%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%Dennis Jensen, s155629%%%%%%%%%
-%%%%%%%%%%%Martin Jensen, s164033%%%%%%%%%
-%%%%%%%%%%%Theis  Jensen, s164022%%%%%%%%%
-%%%%%%%%%%%Stefan Larsen, s164029%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% laser update call
-laser "resetplanner"
-laser "scanget"
-laser "resetlocalizer" 
-
-% For logging purposes
-laser "scanset logopen"
-laser "scanset log=1"
-laser "odopose log=true"
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%MISSION%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% mission 1: follow guidemarks
-% mission 2: find object
-% mission 3: drive to goal
-
-%first mission is initialized
-mission = 1
-
-%first guidemark to visit
-gmkno = 2
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%CONSTANTS%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-fwdVel = 1.0 %forward velocity
-slowVel = 0.5 %slow forward velocity
-
-pi = 3.141592
-
-xlaser = 0.26 %laser offset in x-direction
-
-
-
-%-------------------
-% POINTS
-%-------------------
-% straight up from start position
-laser "addpoint pno=1 x=0.5 y=0.5"
-laser "addpoint pno=2 x=0.5 y=1.5"
-laser "addpoint pno=3 x=0.5 y=2.35"
-laser "addpoint pno=4 x=0.5 y=3.5"
-laser "addpoint pno=5 x=0.5 y=4.55"
-
-% top left straight right (Inside track)
-laser "addpoint pno=6 x=1.5 y=4.65"
-laser "addpoint pno=7 x=2.5 y=4.65"
-laser "addpoint pno=8 x=3.5 y=4.55"
-
-% Right corner and down (inside track)
-laser "addpoint pno=9 x=3.5 y=3.5"
-laser "addpoint pno=10 x=3.5 y=2.35"
-laser "addpoint pno=11 x=3.5 y=1.5"
-laser "addpoint pno=12 x=3.5 y=0.5"
-
-% Right corner bottom back to start
-laser "addpoint pno=13 x=2.5 y=0.5"
-laser "addpoint pno=14 x=1.5 y=0.5"
-
-% Left side out of track box
-laser "addpoint pno=15 x=-0.5 y=2.5"
-laser "addpoint pno=16 x=-0.5 y=3.5"
-laser "addpoint pno=17 x=-0.5 y=1.5"
-
-% Right side out of track box
-laser "addpoint pno=18 x=4.5 y=2.5"
-laser "addpoint pno=19 x=4.5 y=3.5"
-laser "addpoint pno=20 x=4.5 y=1.5"
-
-% From left side to the entrance of the red box (G13, G14)
-laser "addpoint pno=21 x=1.25 y=2.35"
-
-% Infront of the entrance of the red box
-laser "addpoint pno=22 x=2.0 y=2.25"
-
-% From right side to the entrance of the red box (G13, G14)
-laser "addpoint pno=23 x=2.75 y=2.35"
-
-% Inside the red box (G13, G14)
-%laser "addpoint pno=24 x=2 y=3"
-laser "addpoint pno=25 x=2 y=3.3"
-%% Inside the red box (G13)
-laser "addpoint pno=26 x=1.25 y=3.4"
-laser "addpoint pno=27 x=1.25 y=4.0"
-%%% Infront of G13
-laser "addpoint pno=28 x=1.4 y=4.0"
-%% Inside the red box (G14)
-laser "addpoint pno=29 x=2.8 y=3.4"
-laser "addpoint pno=30 x=2.8 y=4.0"
-%%% Infront of G14
-laser "addpoint pno=31 x=2.7 y=4.0"
-
-%-------------------
-% CONNECTIONS
-%-------------------
-laser "addcon pno1=1 pno2=2"
-laser "addcon pno1=2 pno2=1"
-
-laser "addcon pno1=2 pno2=3"
-laser "addcon pno1=3 pno2=2"
-
-laser "addcon pno1=3 pno2=4"
-laser "addcon pno1=4 pno2=3"
-
-laser "addcon pno1=4 pno2=5"
-laser "addcon pno1=5 pno2=4"
-
-laser "addcon pno1=5 pno2=6"
-laser "addcon pno1=6 pno2=5"
-
-laser "addcon pno1=6 pno2=7"
-laser "addcon pno1=7 pno2=6"
-
-laser "addcon pno1=7 pno2=8"
-laser "addcon pno1=8 pno2=7"
-
-laser "addcon pno1=8 pno2=9"
-laser "addcon pno1=9 pno2=8"
-
-laser "addcon pno1=9 pno2=10"
-laser "addcon pno1=10 pno2=9"
-
-laser "addcon pno1=10 pno2=11"
-laser "addcon pno1=11 pno2=10"
-
-laser "addcon pno1=11 pno2=12"
-laser "addcon pno1=12 pno2=11"
-
-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=14 pno2=1"
-laser "addcon pno1=1 pno2=14"
-
-laser "addcon pno1=3 pno2=15"
-laser "addcon pno1=15 pno2=3"
-
-laser "addcon pno1=15 pno2=16"
-laser "addcon pno1=16 pno2=15"
-
-laser "addcon pno1=15 pno2=17"
-laser "addcon pno1=17 pno2=15"
-
-laser "addcon pno1=10 pno2=18"
-laser "addcon pno1=18 pno2=10"
-
-laser "addcon pno1=18 pno2=19"
-laser "addcon pno1=19 pno2=18"
-
-laser "addcon pno1=18 pno2=20"
-laser "addcon pno1=20 pno2=18"
-
-laser "addcon pno1=3 pno2=21"
-laser "addcon pno1=21 pno2=3"
-
-laser "addcon pno1=21 pno2=22"
-laser "addcon pno1=22 pno2=21"
-
-laser "addcon pno1=22 pno2=25"
-laser "addcon pno1=25 pno2=22"
-
-%laser "addcon pno1=24 pno2=25"
-%laser "addcon pno1=25 pno2=24"
-
-laser "addcon pno1=25 pno2=26"
-laser "addcon pno1=26 pno2=25"
-
-laser "addcon pno1=26 pno2=27"
-laser "addcon pno1=27 pno2=26"
-
-laser "addcon pno1=27 pno2=28"
-laser "addcon pno1=28 pno2=27"
-
-laser "addcon pno1=25 pno2=29"
-laser "addcon pno1=29 pno2=25"
-
-laser "addcon pno1=29 pno2=30"
-laser "addcon pno1=30 pno2=29"
-
-laser "addcon pno1=30 pno2=31"
-laser "addcon pno1=31 pno2=30"
-
-laser "addcon pno1=22 pno2=23"
-laser "addcon pno1=23 pno2=22"
-
-laser "addcon pno1=10 pno2=23"
-laser "addcon pno1=23 pno2=10"
-
-% calculate the cost
-laser "calculatecost"
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%ADDING LINES%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-laser "addline startx=0 starty=0 endx=1.8 endy=0 name='bottom left'"
-laser "addline startx=2.2 starty=0 endx=4.0 endy=0 name='ottom right'"
-laser "addline startx=0 starty=5.0 endx=1.8 endy=0 name='top left'"
-laser "addline startx=2.2 starty=5.0 endx=4.0 endy=5.0 name='top  right'"
-laser "addline startx=0 starty=0 endx=0 endy=1.8 name='left down'"
-laser "addline startx=0 starty=3.2 endx=0 endy=5 name='left up'"
-laser "addline startx=4 starty=0 endx=4 endy=1.8 name='right down'"
-laser "addline startx=4 starty=3.2 endx=4 endy=5 name='right up'"
-laser "addline startx=0.9 starty=3.1 endx=1.7 endy=3.1 name='maze bottom left'"
-laser "addline startx=2.3 starty=3.1 endx=3.1 endy=3.1 name='maze bottom right'"
-laser "addline startx=1.7 starty=2.5 endx=1.7 endy=3.1 name='maze left down'"
-laser "addline startx=0.9 starty=3.1 endx=0.9 endy=4.3 name='maze left up'"
-laser "addline startx=2.3 starty=2.5 endx=2.3 endy=3.1 name='maze right down'"
-laser "addline startx=3.1 starty=3.1 endx=3.1 endy=4.3 name='maze right up'"
-laser "addline startx=1.5 starty=3.7 endx=2.5 endy=3.7 name='maze middle horizontal'"
-laser "addline startx=2.0 starty=3.7 endx=2.0 endy=4.3 name='maze middle vertical'"
-laser "addline startx=0.9 starty=4.3 endx=3.1 endy=4.3 name='maze top'"
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%SET UP%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% start pose and covariance
-laser "setinitpose x=xlaser y=0 th=0"
-laser "setinitcov Cx=0.01 Cy=0.01 Cth=0.01"
-
-set "$odox" 0.25
-set "$odoy" 0.25
-set "$odoth" 0
-
-% set localizer
-laser "LOCALIZE silent"
-laser "push t='0.5' cmd='localize'"
-
-%-------------------
-% GUIDEMARKS
-%-------------------
-array "gmkx" 14
-array "gmky" 14
-array "gmkth" 14
-
-gmkx[1] = -0.01
-gmkx[2] = 0
-gmkx[3] = 4.0
-gmkx[4] = 4.01
-gmkx[5] = -0.01
-gmkx[6] = 0.0
-gmkx[7] = 4.0
-gmkx[8] = 4.01
-gmkx[9] = 0.0
-gmkx[10] = 4.0
-gmkx[11] = 0.5
-gmkx[12] = 3.5
-gmkx[13] = 1.99
-gmkx[14] = 2.01
-
-gmky[1] = 1.5
-gmky[2] = 1.5
-gmky[3] = 1.5
-gmky[4] = 1.5
-gmky[5] = 3.5
-gmky[6] = 3.5
-gmky[7] = 3.5
-gmky[8] = 3.5
-gmky[9] = 4.5
-gmky[10] = 4.5
-gmky[11] = 5.0
-gmky[12] = 5.0
-gmky[13] = 4.0
-gmky[14] = 4.0
-
-gmkth[1] = 3.14
-gmkth[2] = 0
-gmkth[3] = 3.14
-gmkth[4] = 0
-gmkth[5] = 3.14
-gmkth[6] = 0
-gmkth[7] = 3.14
-gmkth[8] = 0
-gmkth[9] = 0
-gmkth[10] = 3.14
-gmkth[11] = -1.57
-gmkth[12] = -1.57
-gmkth[13] = 3.14
-gmkth[14] = 0
-
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%RUN MISSION%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-label "start"
-
-switch(mission)
-	case 1
-		goto "mission1"
-	case 2
-		goto "mission2"
-	case 3
-		goto "mission3"
-endswitch
-
-goto "missionerror"
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%MISSION 1%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-label "mission1"
-
-call "init"
-call "drive"
-call "gm"
-
-if (gmval != 14) "mission1"
-
-goto "complete"
-
-label "init"
-
-%current pose
-xc = $odox
-yc = $odoy
-thc = $odoth
-
-%first guidemark pose
-xg = gmkx[gmkno]
-yg = gmky[gmkno]
-thg = gmkth[gmkno]
-
-stringcat "findroute  startx="xc"  starty="yc" endx="xg" endy="yg""
-laser "$string"
-wait 1
-N = $l4
-
-
-return
-
-
-
-%-------------------------%
-%          Drive          %
-%-------------------------%
-
-label "drive"
-
-stringcat "getpoint p=" N""
-laser "$string"
-wait 1
-
-x = $l5
-y = $l6
-th = $l7
-
-eval x
-eval y
-eval th
-
-invtrans $l0 $l1 $l2 $odox $odoy $odoth
-
-angle = th-$res2
-angle = normalizeanglerad(angle)
-ignoreobstacles
-eval angle
-wait 0.5
-turn angle "rad" @v 0.3 :($cmdtime>3)
-
-ignoreobstacles
-wait 0.5
-drivew x y th "rad" @v 0.8 :($targetdist<0.05) 
-stop
-wait 1
-
-
-N = N - 1
-if (N>-1) "drive"
-
-
-invtrans $l0 $l1 $l2 $odox $odoy $odoth
-
-xx = xg-$res0
-yy = yg-$res1
-
-angle = atan2(yy,xx)-$res2
-
-wait 1
-
-angle = normalizeanglerad(angle)
-ignoreobstacles
-turn angle "rad" @v 0.3 :($cmdtime>3)
-wait 0.5
-
-
-return
-
-
-
-%------------------------%
-% DOING EVALUATION OF GM %
-%------------------------%
-
-label "gm"
-call "readgm"
-if (gmval < 1) "bad"
-if (gmval >= 1) "good"
-
-label "bad"
-
-wait 1
-gmval = $fiducialid
-
-if (gmval >= 1) "good"
-turn 10 @v 0.2 
-wait 1
-call "readgm"
-if (gmval >= 1) "good"
-turn -20 @v 0.2 
-wait 1
-call "readgm"
-if (gmval >= 1) "good"
-return
-
-label "good"
-gmkno = gmval
-stringcat "Guidemark no. " "gmkno""
-return
-
-
-
-%-------------------------%
-% READ GUIDEMARK FUNCTION %
-%-------------------------%
-
-label "readgm"
-tries = 0
-label "retry"
-wait 2 :($fiducialid)
-eval $fiducialid
-gmval = $fiducialid
-wait 2
-tries = tries + 1
-
-if (gmval == 98) "complete"
-
-if (tries < 2 | gmval < 1) "retry"
-
-return
-
-label "complete"
-mission = mission + 1
-goto "start"
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%MISSION 2%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% This mission finds the object on the loose
-label "mission2"
-
-n=1 %iterator for switch case
-
-% (x,y) of box with object on the loose
-midx = 2
-midy = 1.5
-
-% Go to reading points
-label "objectfinding"
-
-
-% Read from points 22 -> 21 -> 3 -> 2 -> 1 -> 14 -> 13 -> 12 -> 11 -> 10 -> 23
-switch(n)
-	case 1:
-		x=2.0
-		y=2.25
-	case 2:
-		x=1.25
-		y=2.35
-	case 3:
-		x=0.5
-		y=2.35
-	case 4:
-		x=0.5
-		y=1.5
-	case 5:
-		x=0.5
-		y=0.5
-	case 6:
-		x=1.5
-		y=0.5
-	case 7:
-		x=2.5
-		y=0.5
-	case 8:
-		x=3.5
-		y=0.5
-	case 9:
-		x=3.5
-		y=1.5
-	case 10:
-		x=3.5
-		y=2.35
-	case 11:
-		x=2.75
-		y=2.35
-endswitch
-
-
-xc = $odox
-yc = $odoy
-thc = $odoth	
-
-
-stringcat "findroute  startx="xc"  starty="yc" endx="x" endy="y""
-laser "$string"
-wait 1
-
-K = $l4
-
-
-label "drivearound"
-stringcat "getpoint p=" K""
-laser "$string"
-wait 1
-
-x = $l5
-y = $l6
-
-th = $l7
-
-eval x
-eval y
-eval th
-
-invtrans $l0 $l1 $l2 $odox $odoy $odoth
-
-angle = th-$res2
-angle = normalizeanglerad(angle)
-eval angle
-ignoreobstacles
-turn angle "rad" @v 0.3 :($cmdtime>3)
-
-ignoreobstacles
-wait 0.5
-drivew x y th "rad" @v 0.5 :($targetdist<0.05) 
-stop
-wait 0.5
-
-K=K-1
-
-if (K>-1) "drivearound"
-
-
-% Turning towards middle of box on the loose
-
-posx = midx - $odox
-posy = midy - $odoy
-
-midangle = atan2(posy, posx) - $odoth
-midangle = normalizeanglerad(midangle)
-
-ignoreobstacles
-turn midangle "rad" @v 0.2 :($cmdtime>3)
-wait 2
-stringcat "zoneobst detect x="$odox" y="$odoy" th="$odoth""
-laser "$string"
-wait 2
-
-n=n+1
-
-if (n!=12) "objectfinding"
-
-wait 1
-
-%determine object
-laser "zoneobst determine"
-wait 3
-
-goto "finish"
-
-mission = mission + 1
-goto "start"
-
-
-label "findobject"
-posx = midx - $odox
-posy = midy - $odoy
-
-midangle = atan2(posy, posx) - $odoth
-midangle = normalizeanglerad(midangle)
-
-ignoreobstacles
-turn midangle "rad" @v 0.2
-wait 2
-
-stringcat "zoneobst findobject x="$odox" y="$odoy" th="$odoth""
-laser "$string"
-
-boxx = $l0
-boxy = $l1
-
-eval boxx
-eval boxy
-
-return
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%MISSION 3%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% drive to goal
-
-label "mission3"
-
-startx=0.25
-starty=0.25
-
-xc = $odox
-yc = $odoy
-stringcat "findroute  startx="xc"  starty="yc" endx="startx" endy="starty""
-laser "$string"
-wait 1
-N = $l4
-
-label "driveHome"
-
-stringcat "getpoint p=" N""
-laser "$string"
-wait 1
-
-x = $l5
-y = $l6
-th = $l7
-
-eval x
-eval y
-eval th
-
-invtrans $l0 $l1 $l2 $odox $odoy $odoth
-
-angle = th-$res2
-angle = normalizeanglerad(angle)
-ignoreobstacles
-eval angle
-wait 1
-turn angle "rad" @v 0.3 :($cmdtime>3)
-
-ignoreobstacles
-wait 1
-drivew x y th "rad" @v 0.8 :($targetdist<0.05) 
-stop
-wait 1
-
-N = N - 1
-
-if (N>-1) "driveHome"
-
-turn 90
-fwd -0.25
-turn 90
-fwd -0.25
-
-goto "finish"
-
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%FINISH%%%%%%%%%%%%%%%%%%%%%
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-label "missionerror"
-%NO MISSION NUMBER DETECTED
-
-label "finish"
-stop
-
-% closing logging
-laser "scanset logclose"
-laser "odopose log=false"
-
-% DRIVE FINISHED
diff --git a/laser_020200524_225558.logg b/laser_020200524_225558.logg
deleted file mode 100644
index 6e40d98..0000000
--- a/laser_020200524_225558.logg
+++ /dev/null
@@ -1 +0,0 @@
-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/log b/log
deleted file mode 100644
index e69de29..0000000
diff --git a/main.sh b/main.sh
index dadfc90..3498949 100644
--- a/main.sh
+++ b/main.sh
@@ -1,4 +1,9 @@
 #!usr/bin/bash
+# install gnome-terminal
+if ! [ -x "$(command -v gnome-terminal)" ]; then
+  sudo apt-get install gnome-terminal
+  sleep 1
+fi
 # terminal 1: laser server
 gnome-terminal -t "laser server" -x bash -c "cd /home/smr/sim/bash_src/;
 sh laser.sh;exec bash;"
diff --git a/mrc_src/data.debug b/mrc_src/data.debug
index c59c016..411a13d 100644
--- a/mrc_src/data.debug
+++ b/mrc_src/data.debug
@@ -1,6 +1,6 @@
 Debug file for the robot initialization
 ---------------------------------------
-Sun May 24 22:57:24 2020
+Mon May 25 16:45:39 2020
 ---------------------------------------
 
 Module : robotinfo
diff --git a/mrc_src/main b/mrc_src/main
index 44bf605..f5a620c 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 = 0.4
+dist = 0.35
 % distance from the nearest node to the guidemark
-nodeDist = 0.15
+nodeDist = 0.25
 % robot length
 length  = 0.25
 % the first guidemark number
-gmno = 4
+gmno = 14
 % task number
 %% - 1: subtask1, follow the guidemarks
 %% - 2: subtask2, recognize unknown object
@@ -86,6 +86,11 @@ laser "localize"
 laser “push t='0.3' cmd='localize' “
 wait 1
 
+%% log
+laser "scanset logopen"
+laser "scanset log=1"
+laser "odopose log=true"
+
 %%%%%%%%MAIN PROCESS%%%%%%%%%%
 %
 switch(task)
@@ -95,6 +100,7 @@ call "backToOrig"
 goto "end"
 case 1
 call "subtask1"
+wait 5
 call "backToOrig"
 goto "end"
 case 2
@@ -123,6 +129,7 @@ eval thEnd
 call "plan"
 % read the guidemark, update gmno
 call "look"
+wait 1
 if(gmno!=98) "subtask1"
 return
 label "rightSide"
@@ -163,9 +170,9 @@ rotAng = atan2(yTar-yCurr,xTar-xCurr)-thCurr
 rotAng = normalizeanglerad(rotAng)
 wait 0.5
 eval rotAng
-ignoreobstacles
 turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)  
-wait 1.5
+stop
+wait 2
 ignoreobstacles
 drivew xTar yTar thTar "rad" @v 0.3 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=nodeDist)
 stop
@@ -174,8 +181,8 @@ call "update"
 % correct orientation
 rotAng = thTar-thCurr
 rotAng = normalizeanglerad(rotAng)
+stop
 wait 0.5
-ignoreobstacles
 turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)   
 wait 1
 return
@@ -196,9 +203,7 @@ wait 0.5
 xTar = $l5
 yTar = $l6
 thTar = $l7
-% remove the verbose pose
-if((xTar==xOrig)&(yTar==yOrig)) "loop"
-eval pno
+if((xTar==xOrig)&(yTar==yOrig)&(pno>1)) "loop"
 call "go"
 wait 2
 if(pno>0) "loop"
@@ -207,33 +212,55 @@ xTar = xEnd
 yTar = yEnd
 thTar = thEnd
 call "go"
-wait 1
-ignoreobstacles
-fwd -0.3 @v 0.1
-stop
-ignoreobstacles
-drive @v 0.1 :($irdistfrontmiddle<=dist)
-stop
-wait 0.5
 return
 
 % function: look
 % return guidemarkNumber 
 label "look"
+counter = 0
+label "scan"
+switch(counter)
 wait 3 : ($fiducialid>0)
-eval $fiducialid
-eval $guidemarkok
 gmno = $fiducialid
 eval gmno
-eval $gmkx
-eval $gmky
-eval $gmkz
-goto "look"
+goto "hasGotcha"
+case 1
+turn 10
+wait 3 : ($fiducialid>0)
+if(gmno==$fiducialid) "next"
+gmno = $fiducialid
+eval gmno
+"hasGotcha"
+case 2
+turn -20
+wait 3 : ($fiducialid>0)
+gmno = $fiducialid
+eval gmno
+label "hasGotcha"
+counter = counter+1
+if(counter>2) "next"
+if(gmno<0) "scan"
+return
+label "next"
+gmno = gmno+1
+if(gmno>14) "overflow"
+return
+label "overflow"
+gmno = 14
 return
 
 % function: backToOrig
 % drive the robot back to the start square
 label "backToOrig"
+fwd -0.45 @v 0.1
+wait 1
+xEnd = xOrig
+yEnd = yOrig-0.1
+thEnd = 0
+call "plan"
+wait 1
+laser "scanset logclose"
+laser "odopose log=false"
 return
 
 
diff --git a/mrc_src/spawnNodes b/mrc_src/spawnNodes
index aa9d153..e62911f 100644
--- a/mrc_src/spawnNodes
+++ b/mrc_src/spawnNodes
@@ -17,9 +17,9 @@ laser "addpoint pno=10 x=3.5 y=2.5"
 laser "addpoint pno=11 x=4.5 y=2.5"
 laser "addpoint pno=12 x=-0.5 y=3.5"
 laser "addpoint pno=13 x=0.5 y=3.5"
-laser "addpoint pno=14 x=1.3 y=3.3"
-laser "addpoint pno=15 x=2 y=3.3"
-laser "addpoint pno=16 x=2.7 y=3.3"
+laser "addpoint pno=14 x=1.3 y=3.4"
+laser "addpoint pno=15 x=2 y=3.4"
+laser "addpoint pno=16 x=2.7 y=3.4"
 laser "addpoint pno=17 x=3.5 y=3.5"
 laser "addpoint pno=18 x=4.5 y=3.5"
 laser "addpoint pno=19 x=1.3 y=4"
diff --git a/mrc_src/test b/mrc_src/test
deleted file mode 100644
index ce102d0..0000000
--- a/mrc_src/test
+++ /dev/null
@@ -1,306 +0,0 @@
-%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
-
-
-
-
-
-
-
-
-
-
-
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-39.420000 1.627 1.936 0.01300 0.000 -1 1590353164.880919
-49.430000 1.627 1.936 0.01300 0.000 -1 1590353174.990172
diff --git a/simconfig388.xml b/simconfig388.xml
deleted file mode 100644
index a6342f0..0000000
--- a/simconfig388.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<?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>
-- 
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