# simple.world - basic world file example
# Authors: Richard Vaughan
# $Id$

include "pioneer.inc"
include "map.inc"
include "sick.inc"

interval_sim 100  # simulation timestep in milliseconds
interval_real 20  # real-time interval between simulation updates in milliseconds 

quit_time 60

paused 0

resolution 0.02

# configure the GUI window
window
(
  size [ 556.000 557.000 ] # in pixels
  scale 28.116            
     # pixels per meter
  center [ 0.095  -0.301 ]
  rotate [ 0  0 ]
  			
  show_data 1              # 1=on 0=off
)

# load an environment bitmap
floorplan
( 
  name "cave"
  size [16.000 16.000 0.800]
  pose [0 0 0 0]
  bitmap "bitmaps/cave.png"
)


pioneer2dx
(		  
  # can refer to the robot by this name
  name "r0"

  pose [ -5 -5 0 270 ] 
  sicklaser() 

#ctrl "wander"

  # report error-free position in world coordinates
  localization "gps"
  localization_origin [ 0 0 0 0 ]
)

