Home FAQ Player Utilities Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

B21R [Models] The B21R model simulates an B21R mobile robot base with 48 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:B21R> <xyz>0 0 0</xyz> </model:B21R> Views Authors Andrew Howard, Nate Koenig

---

Last updated $Date: 2004/12/21 01:49:15 $

---