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PeopleBot
[Models]

The PeopleBot model simulates an ActivMedia People Bot mobile robot base with 16 sonars.

libgazebo interfaces
  • Position information is available through the position interface.
  • Power information is available through the power interface.
  • Sonar information is available through the sonar interface.

Player drivers
  • Position information is available through the gz_position driver.
  • Power information is available through the gz_power driver.
  • Sonar information is available through the gz_sonar driver.

Attributes
The following attributes are supported.

  • id (string)
    • The model ID string (used by libgazebo to identify models).
    • Default: (empty)
  • xyz (float tuple, meters)
    • Model position (x, y, z, in meters).
    • Default: 0 0 0
  • rpy (float tuple, degrees)
    • Model orientation in Euler angles: roll, pitch, yaw.
    • Default: 0 0 0

  • updateRate (float, Hz)
    • Updates per second
    • Default: 10

  • batteryLevel (float, volts)
    • Initial battery level
    • Default: 12.4

  • batteryCurve (float)
    • Discharge curve: about one hour quiescent
    • Default: 2/3600 2/1e4

Bodies
The following bodies are created by this model.

  • canonical
    • The canonical (default) body.

Example
<model:PeopleBot>
  <xyz>0 0 0</xyz>
</model:PeopleBot>

Views

Authors
Konstantinos Karantzis


Last updated $Date: 2004/12/21 01:49:15 $
Generated on Sun May 22 18:39:09 2005 for Gazebo by doxygen 1.4.2