ARGoS
Large-scale robot simulations
ARGoS Example

synchronization.argos

<?xml version="1.0" ?>
<argos-configuration>
 
  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="0"
                ticks_per_second="10"
                random_seed="124" />
  </framework>
 
  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>
 
    <footbot_synchronization_controller id="fsc"
                                        library="build/controllers/footbot_synchronization/libfootbot_synchronization.so">
      <actuators>
        <leds implementation="default" medium="leds" />
      </actuators>
      <sensors>
        <colored_blob_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="true" />
      </sensors>
      <params />
    </footbot_synchronization_controller>
 
  </controllers>
 
  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="3, 3, 1" center="0,0,0.5">
 
    <box id="wall_north" size="2,0.1,0.5" movable="false">
      <body position="0,1,0" orientation="0,0,0" />
    </box>
    <box id="wall_south" size="2,0.1,0.5" movable="false">
      <body position="0,-1,0" orientation="0,0,0" />
    </box>
    <box id="wall_east" size="0.1,2,0.5" movable="false">
      <body position="1,0,0" orientation="0,0,0" />
    </box>
    <box id="wall_west" size="0.1,2,0.5" movable="false">
      <body position="-1,0,0" orientation="0,0,0" />
    </box>
 
    <!--
       Distribute 16 entities in a 4x4 grid on the ground,
       all facing along the X axis -->
    <distribute>
      <position method="grid"
                center="0,0,0"
                distances="0.3,0.3,0"
                layout="4,4,1" />
      <orientation method="constant" values="0,0,0" />
      <entity quantity="16" max_trials="1">
        <foot-bot id="fb">
          <controller config="fsc" />
        </foot-bot>
      </entity>
    </distribute>
 
  </arena>
 
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" />
  </physics_engines>
 
  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media>
    <led id="leds" />
  </media>
 
  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
        <placements>
          <placement index="0" position="0,0,8" look_at="0,0,0" up="1,0,0" lens_focal_length="65" />
        </placements>
      </camera>
    </qt-opengl>
  </visualization>
 
</argos-configuration>
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