#! /usr/bin/env morseexec # In this mission, we acquire the elevation map with the # Lejaune robot from eurathlon.builder.robots import * from eurathlon.builder.actuators import * from eurathlon.builder.sensors import Tritechmicron from morse.builder import * from morse.helpers.coordinates import CoordinateConverter jaune = Lejaune() jaune.translate(x=0,y=-2,z=0.7) tritech=Tritechmicron() tritech.rotate(z=3.14/2) jaune.append(tritech) pose = Pose() pose.add_stream('moos','eurathlon.sensors.customposepublisher.CustomPosePublisher',moos_port=9000) jaune.append(pose) velocity = Velocity() jaune.append(velocity) jauneactuator=Lejaunethruster() jaune.append(jauneactuator) # GPS # On prend le point 0 en lat= 42.95426460788653, lon=10.60175534337759, # Ce qui correspond au coin sud-est de la pente de mise a l'eau des bateaux, en haut a gauche du port
#! /usr/bin/env morseexec # In this mission, we acquire the elevation map with the # Lejaune robot on a simple environment from eurathlon.builder.robots import * from eurathlon.builder.actuators import * from eurathlon.builder.sensors import Tritechmicron from morse.builder import * from morse.helpers.coordinates import CoordinateConverter jaune = Lejaune() jaune.translate(x=0, y=-2, z=-0.2) tritech = Tritechmicron() tritech.rotate(z=3.14 / 2) tritech.properties(scan_coverage=160) tritech.frequency(20) jaune.append(tritech) pose = Pose() pose.add_stream('moos', 'eurathlon.sensors.customposepublisher.CustomPosePublisher', moos_port=9000) jaune.append(pose) velocity = Velocity() jaune.append(velocity) jauneactuator = Lejaunethruster() jaune.append(jauneactuator)
#! /usr/bin/env morseexec # In this mission, we acquire the elevation map with the # Lejaune robot from eurathlon.builder.robots import * from eurathlon.builder.actuators import * from eurathlon.builder.sensors import Tritechmicron from morse.builder import * from morse.helpers.coordinates import CoordinateConverter jaune = Lejaune() jaune.translate(x=0, y=-2, z=0.7) tritech = Tritechmicron() tritech.rotate(z=3.14 / 2) jaune.append(tritech) pose = Pose() pose.add_stream('moos', 'eurathlon.sensors.customposepublisher.CustomPosePublisher', moos_port=9000) jaune.append(pose) velocity = Velocity() jaune.append(velocity) jauneactuator = Lejaunethruster() jaune.append(jauneactuator) # GPS # On prend le point 0 en lat= 42.95426460788653, lon=10.60175534337759,
#! /usr/bin/env morseexec # In this mission, we acquire the elevation map with the # Lejaune robot on a simple environment from eurathlon.builder.robots import * from eurathlon.builder.actuators import * from eurathlon.builder.sensors import Tritechmicron from morse.builder import * from morse.helpers.coordinates import CoordinateConverter jaune = Lejaune() jaune.translate(x=0,y=-2,z=-0.2) tritech=Tritechmicron() tritech.rotate(z=3.14/2) tritech.properties(scan_coverage=160) tritech.frequency(20) jaune.append(tritech) pose = Pose() pose.add_stream('moos','eurathlon.sensors.customposepublisher.CustomPosePublisher',moos_port=9000) jaune.append(pose) velocity = Velocity() jaune.append(velocity) jauneactuator=Lejaunethruster() jaune.append(jauneactuator) # GPS # On prend le point 0 en lat= 42.95426460788653, lon=10.60175534337759,