
# Desc: Player sample configuration file for controlling Stage devices
# Author:  Richard Vaughan
# Date: 1 December 2004
# CVS: $Id: simple.cfg,v 1.34 2007-11-02 01:11:39 gerkey Exp $




driver
(
  name "snd" 
  provides ["position2d:1"]
  requires ["input:::position2d:0" "output:::position2d:0" "laser:0"]
  obstacle_avoid_dist 0.5
  robot_radius 0.24
)


# load the Stage plugin simulation driver
driver
(		
  name "stage"
  provides ["simulation:0"  ]
    plugin "stageplugin"
  # load the named file into the simulator
  worldfile "simple.world"	
)


# Create a Stage driver and attach position2d and laser interfaces 
# to the model "robot1"
driver
( 
  name "stage"
  provides ["position2d:0" "laser:0" ] 
  model "r0" 
)


##############################



driver
(
  name "mapfile"
  provides ["6665:map:0"]
  filename "bitmaps/cave.png"
  resolution 0.032 # meters per pixel
  negate 0
  origin [-8 -8 ] # real-world location of the bottom-left-hand corner of the map
)




#driver
#(
#  name "stage"
#  provides ["6665:map:0"]
#  model "cave"
#)
