1from morse.builder import *
2
3# Land robot
4atrv = ATRV()
5
6gyroscope = Gyroscope()
7gyroscope.translate(z = 0.75)
8atrv.append(gyroscope)
9
10pose = Pose()
11pose.translate(z = 0.75)
12atrv.append(pose)
13
14gps = GPS()
15gps.translate(z = 0.75)
16atrv.append(gps)
17
18imu = IMU()
19imu.translate(z = 0.75)
20atrv.append(imu)
21
22sick = Sick()
23sick.translate(x = 0.50, z = 0.75)
24atrv.append(sick)
25
26motion = MotionVW()
27atrv.append(motion)
28
29# Add datastream for our robot's components
30gyroscope.add_stream("moos")
31motion.add_stream("moos")
32pose.add_stream("moos")
33gps.add_stream("moos")
34imu.add_stream("moos")
35sick.add_stream("moos")
36
37env = Environment('indoors-1/indoor-1', fastmode = True)
38env.properties(longitude=43.6, latitude=1.433, altitude=0.)
39