morse_wargs.py

"""
Run the following commands::

    export PYTHONPATH=/usr/local/lib/python3.3/site-packages/:$PYTHONPATH
    blender /usr/local/share/morse/data/morse_default.blend -P morse_wargs.py -- 5
"""
from morse.builder import *

def import_atrv(mw):
    # Append ATRV robot to the scene
    atrv = ATRV()

    # Append an actuator
    motion = MotionVW()
    motion.translate(z=0.3)
    atrv.append(motion)

    # Append a Gyroscope sensor
    gyroscope = Gyroscope()
    gyroscope.translate(z=0.83)
    atrv.append(gyroscope)

    # Configuring the middlewares
    gyroscope.add_stream(mw)
    motion.add_stream(mw)
    return atrv

import sys
num_robots = 1
if '--' in sys.argv:
    id_robot = sys.argv.index('--') + 1
    try:
        num_robots = int(sys.argv[id_robot])
    except Exception as e:
        print("ERROR : Couldn't parse args : %s\n%s"%(str(sys.argv), str(e)))

for id_robot in range(num_robots):
    robot = import_atrv('ros')
    robot.translate(x=id_robot*2)
    robot.name = "robot%i"%id_robot

env = Environment('indoors-1/indoor-1')
env.aim_camera([1.0470, 0, 0.7854])

del env

# rostopic pub -1 /robot1/motion geometry_msgs/Twist "{linear: {x: .1}, angular: {z: .1}}"
# rostopic pub -1 /robot2/motion geometry_msgs/Twist "{linear: {x: .1}, angular: {z: .1}}"
# rostopic pub -1 /robot3/motion geometry_msgs/Twist "{linear: {x: .1}, angular: {z: .1}}"