ros-ex1.xml

<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    name="Cars in 2D Maze">

  <run start="0.0" end="100" dt="0.01"
       time_warp="1"
       enable_gui="true"
       network_gui="false"
       start_paused="false"/>

  <stream_port>50051</stream_port>
  <stream_ip>localhost</stream_ip>

  <end_condition>none</end_condition> <!-- time, one_team, none-->

  <grid_spacing>10</grid_spacing>
  <grid_size>200</grid_size>

  <background_color>191 191 191</background_color> <!-- Red Green Blue -->
  <gui_update_period>10</gui_update_period> <!-- milliseconds -->

  <plot_tracks>false</plot_tracks>
  <output_type weights_file="unity">all</output_type>
  <show_plugins>false</show_plugins>

  <log_dir>~/.scrimmage/logs</log_dir>

  <latitude_origin>35.721025</latitude_origin>
  <longitude_origin>-120.767925</longitude_origin>
  <altitude_origin>300</altitude_origin>
  <show_origin>true</show_origin>
  <origin_length>10</origin_length>

  <entity_interaction enable_collision_detection="false" show_rays="true">BulletCollision</entity_interaction>
  <entity_interaction map="simple-maze-1">MapGen2D</entity_interaction>

  <network>GlobalNetwork</network>
  <network>LocalNetwork</network>

  <!-- uncomment "seed" and use integer for deterministic results -->
  <!--<seed>1714060370</seed>-->

  <!-- ========================== TEAM 1 ========================= -->
  <entity>
    <team_id>1</team_id>
    <color>77 77 255</color>
    <count>1</count>
    <health>1</health>

    <sensor order="0" xyz="1.2 0 0.1" rpy="0 0 0">RayTrace</sensor>

    <x>10</x>
    <y>10</y>
    <z>0.42</z>
    <heading>0</heading>

    <controller>DirectController</controller>
    <motion_model>Unicycle</motion_model>
    <visual_model>volkswagen</visual_model>
    <autonomy>ROSAutonomy</autonomy>
  </entity>

  <!-- Team 2 -->
  <entity>
    <team_id>2</team_id>
    <color>0 0 255</color>
    <count>1</count>
    <health>1</health>

    <sensor order="0" xyz="1.2 0 0.1" rpy="0 0 0">RayTrace</sensor>

    <x>10</x>
    <y>20</y>
    <z>0.42</z>
    <heading>0</heading>

    <controller>DirectController</controller>
    <motion_model>Unicycle</motion_model>
    <visual_model>volkswagen</visual_model>
    <autonomy>ROSAutonomy</autonomy>
    </entity>

</runscript>