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