tran-simon/buzz_test.argos

## buzz_test.argos
<?xml version="1.0" ?>

<!-- *************************************************** -->
<!-- * A fully commented XML is diffusion_1.xml. Refer * -->
<!-- * to it to have full information about what       * -->
<!-- * these options mean.                             * -->
<!-- *************************************************** -->

<argos-configuration>

  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="0"
                ticks_per_second="10"
                random_seed="123" />
  </framework>

  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>

    <crazyflie_sensing_controller id="ssc"
                                 library="build/controllers/crazyflie_sensing/libcrazyflie_sensing">
      <actuators>
        <range_and_bearing  implementation="default" />
        <quadrotor_position implementation="default" />
      </actuators>
      <sensors>
        <range_and_bearing      implementation="medium" medium="rab" show_rays="false" />
        <crazyflie_distance_scanner implementation="rot_z_only"  show_rays="true" />
        <positioning            implementation="default"/>
        <battery implementation="default"/>
      </sensors>
      <params>
      </params>
    </crazyflie_sensing_controller>q

    <!-- Include this if you're using foot-bots -->
    <buzz_controller_footbot id="bcf">
      <actuators>
        <differential_steering implementation="default" />
        <leds                  implementation="default" medium="leds" />
        <range_and_bearing implementation="default" />
      </actuators>
      <sensors>
        <range_and_bearing implementation="medium" medium="rab" show_rays="true" noise_std_dev="0" />
      </sensors>
      <params bytecode_file="neighborsDistance.bo" debug_file="neighborsDistance.bdb"/>
    </buzz_controller_footbot>

  </controllers>


  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="4, 4, 2" center="0,0,0.5" positional_grid_size="5, 5, 1">
    <box id="wall_north" size="4,0.1,1.5" movable="false">
      <body position="0,2,0" orientation="0,0,0" />
    </box>
    <box id="wall_south" size="4,0.1,1.5" movable="false">
      <body position="0,-2,0" orientation="0,0,0" />
    </box>
    <box id="wall_east" size="0.1,4,1.5" movable="false">
      <body position="2,0,0" orientation="0,0,0" />
    </box>
    <box id="wall_west" size="0.1,4,1.5" movable="false">
      <body position="-2,0,0" orientation="0,0,0" />
    </box>

    <crazyflie id="drone1">
      <body position="0,0,0" orientation="0,0,0"/>
      <controller config="ssc" />
      <battery model="time_motion" delta="1e-3" pos_delta="1e-3"  orient_delta="1e-3"/>
    </crazyflie>


     <!-- Place a foot-bot in the arena -->
     <foot-bot id="fb0" rab_data_size="100">
        <body position="1,0,0" orientation="0,0,0"/>
        <controller config="bcf" />
     </foot-bot>

    <!-- Other walls -->
    <box id="wall_1" size="1,0.1,1.5" movable="false">
      <body position="1.5,0,0" orientation="0,0,0" />
    </box>
    <box id="wall_2" size="1,0.1,1.5" movable="false">
      <body position="-1.5,0,0" orientation="0,0,0" />
    </box>
    <box id="wall_3" size="0.1,1,1.5" movable="false">
      <body position="0,1.5,0" orientation="0,0,0" />
    </box>
    <box id="wall_4" size="0.1,1,1.5" movable="false">
      <body position="0,-1.5,0" orientation="0,0,0" />
    </box>

    <!-- Boxes
    <distribute>
      <position method="uniform" min="-2,-2,0" max="2,2,0" />
      <orientation method="uniform" min="0,0,0" max="360,0,0" />
      <entity quantity="4" max_trials="100">
        <box id="b" size="0.3,0.3,2" movable="false" />
      </entity>
    </distribute>-->

    <!--Cylinders
    <distribute>
      <position method="uniform" min="-2,-2,0" max="2,2,0" />
      <orientation method="uniform" min="0,0,0" max="360,0,0" />
      <entity quantity="4" max_trials="100">
        <cylinder id="c" height="2" radius="0.3" movable="false" />
      </entity>
    </distribute>-->

  </arena>
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <pointmass3d id="pm3d" />
    <dynamics2d id="dyn2d" />
  </physics_engines>

  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media>
    <range_and_bearing id="rab" />
    <led id="leds" />
  </media>

  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
      <placements>
        <placement index="0" position="2,0,4"
                   look_at="0,0,0" up="-1,0,0"
                   lens_focal_length="20" />
        </placements>
      </camera>
    </qt-opengl>
  </visualization>

</argos-configuration>
	<?xml version="1.0" ?>

	<!-- *************************************************** -->
	<!-- * A fully commented XML is diffusion_1.xml. Refer * -->
	<!-- * to it to have full information about what * -->
	<!-- * these options mean. * -->
	<!-- *************************************************** -->

	<argos-configuration>

	<!-- ************************* -->
	<!-- * General configuration * -->
	<!-- ************************* -->
	<framework>
	<system threads="0" />
	<experiment length="0"
	ticks_per_second="10"
	random_seed="123" />
	</framework>

	<!-- *************** -->
	<!-- * Controllers * -->
	<!-- *************** -->
	<controllers>

	<crazyflie_sensing_controller id="ssc"
	library="build/controllers/crazyflie_sensing/libcrazyflie_sensing">
	<actuators>
	<range_and_bearing implementation="default" />
	<quadrotor_position implementation="default" />
	</actuators>
	<sensors>
	<range_and_bearing implementation="medium" medium="rab" show_rays="false" />
	<crazyflie_distance_scanner implementation="rot_z_only" show_rays="true" />
	<positioning implementation="default"/>
	<battery implementation="default"/>
	</sensors>
	<params>
	</params>
	</crazyflie_sensing_controller>q

	<!-- Include this if you're using foot-bots -->
	<buzz_controller_footbot id="bcf">
	<actuators>
	<differential_steering implementation="default" />
	<leds implementation="default" medium="leds" />
	<range_and_bearing implementation="default" />
	</actuators>
	<sensors>
	<range_and_bearing implementation="medium" medium="rab" show_rays="true" noise_std_dev="0" />
	</sensors>
	<params bytecode_file="neighborsDistance.bo" debug_file="neighborsDistance.bdb"/>
	</buzz_controller_footbot>

	</controllers>



	<!-- *********************** -->
	<!-- * Arena configuration * -->
	<!-- *********************** -->
	<arena size="4, 4, 2" center="0,0,0.5" positional_grid_size="5, 5, 1">
	<box id="wall_north" size="4,0.1,1.5" movable="false">
	<body position="0,2,0" orientation="0,0,0" />
	</box>
	<box id="wall_south" size="4,0.1,1.5" movable="false">
	<body position="0,-2,0" orientation="0,0,0" />
	</box>
	<box id="wall_east" size="0.1,4,1.5" movable="false">
	<body position="2,0,0" orientation="0,0,0" />
	</box>
	<box id="wall_west" size="0.1,4,1.5" movable="false">
	<body position="-2,0,0" orientation="0,0,0" />
	</box>

	<crazyflie id="drone1">
	<body position="0,0,0" orientation="0,0,0"/>
	<controller config="ssc" />
	<battery model="time_motion" delta="1e-3" pos_delta="1e-3" orient_delta="1e-3"/>
	</crazyflie>


	<!-- Place a foot-bot in the arena -->
	<foot-bot id="fb0" rab_data_size="100">
	<body position="1,0,0" orientation="0,0,0"/>
	<controller config="bcf" />
	</foot-bot>

	<!-- Other walls -->
	<box id="wall_1" size="1,0.1,1.5" movable="false">
	<body position="1.5,0,0" orientation="0,0,0" />
	</box>
	<box id="wall_2" size="1,0.1,1.5" movable="false">
	<body position="-1.5,0,0" orientation="0,0,0" />
	</box>
	<box id="wall_3" size="0.1,1,1.5" movable="false">
	<body position="0,1.5,0" orientation="0,0,0" />
	</box>
	<box id="wall_4" size="0.1,1,1.5" movable="false">
	<body position="0,-1.5,0" orientation="0,0,0" />
	</box>

	<!-- Boxes
	<distribute>
	<position method="uniform" min="-2,-2,0" max="2,2,0" />
	<orientation method="uniform" min="0,0,0" max="360,0,0" />
	<entity quantity="4" max_trials="100">
	<box id="b" size="0.3,0.3,2" movable="false" />
	</entity>
	</distribute>-->

	<!--Cylinders
	<distribute>
	<position method="uniform" min="-2,-2,0" max="2,2,0" />
	<orientation method="uniform" min="0,0,0" max="360,0,0" />
	<entity quantity="4" max_trials="100">
	<cylinder id="c" height="2" radius="0.3" movable="false" />
	</entity>
	</distribute>-->

	</arena>
	<!-- ******************* -->
	<!-- * Physics engines * -->
	<!-- ******************* -->
	<physics_engines>
	<pointmass3d id="pm3d" />
	<dynamics2d id="dyn2d" />
	</physics_engines>

	<!-- ********* -->
	<!-- * Media * -->
	<!-- ********* -->
	<media>
	<range_and_bearing id="rab" />
	<led id="leds" />
	</media>

	<!-- ****************** -->
	<!-- * Visualization * -->
	<!-- ****************** -->
	<visualization>
	<qt-opengl>
	<camera>
	<placements>
	<placement index="0" position="2,0,4"
	look_at="0,0,0" up="-1,0,0"
	lens_focal_length="20" />
	</placements>
	</camera>
	</qt-opengl>
	</visualization>

	</argos-configuration>