user-control-unicycle.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="SASC Capture the Flag">

  <run start="0.0" end="100" dt="0.0083333"
       time_warp="1"
       enable_gui="true"
       network_gui="false"
       start_paused="true"/>

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

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

  <grid_spacing>10</grid_spacing>
  <grid_size>1000</grid_size>

  <terrain>mcmillan</terrain>
  <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>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 order="0">SimpleCollision</entity_interaction>
  <metrics order="0">SimpleCollisionMetrics</metrics>

  <!-- 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>

    <variance_x>20</variance_x>
    <variance_y>20</variance_y>
    <variance_z>10</variance_z>

    <x>-1000</x>
    <y>0</y>
    <z>200</z>
    <heading>0</heading>

    <autonomy>ROSControl</autonomy>
    <autonomy enable_playback="true" remove_at_end="true">TrajectoryRecordPlayback</autonomy>
    <controller>Unicycle3DControllerDirect</controller>
    <motion_model vel_max="50" turn_rate_max="50" pitch_rate_max="50">Unicycle3D</motion_model>
    <visual_model>zephyr-blue</visual_model>

  </entity>

  <!--
  <entity>
    <team_id>2</team_id>
    <color>77 77 255</color>
    <count>10</count>
    <health>1</health>

    <variance_x>20</variance_x>
    <variance_y>20</variance_y>
    <variance_z>10</variance_z>

    <x>50</x>
    <y>0</y>
    <z>200</z>

    <heading>180</heading>

    <autonomy>Straight</autonomy>
    <motion_model>JSBSimModel</motion_model>
    <controller>JSBSimModelControllerHeadingPID</controller>
    <script_name>rascal_piedmont.xml</script_name>
    <visual_model>zephyr-red</visual_model>

    <base>
      <latitude>35.719961</latitude>
      <longitude>-120.767304</longitude>
      <altitude>300</altitude>
      <radius>25</radius>
    </base>
  </entity>
  -->

</runscript>