# Desc: 1 pioneer robot with laser	
# CVS: $Id: simple.world,v 1.67 2006-10-05 22:27:29 gerkey Exp $

# defines Pioneer-like robots
include "pioneer.inc"


# defines 'map' object used for floorplans
include "map.inc"


# defines sick laser scanner
include "sick.inc"

# size of the world in meters
size [131.2 41]

# set the resolution of the underlying raytrace model in meters
resolution 0.02

interval_sim 100
interval_real 100

# configure the GUI window
window
( 
  size [ 960.000 300.000 ]  
  scale 0.014
)

# load an environment bitmap
map
( 
  bitmap "bitmaps/3large.png"
  map_resolution 0.082
  size [131.2 41]
  name "galisano"
)


# create a robot
pioneer2dx
(
  name "robot1"
  color "red"
  pose [7.5 12 0]
  sick_laser()
  watchdog_timeout -1.0
)