/////////////////////////////////////////////////////////////////////////////
// Antler configuration  block
//
// This file is part of the OpenMORA (Open MObile Robotics Arquitecture)
//   http://babel.isa.uma.es/mora/
/////////////////////////////////////////////////////////////////////////////



ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
//	ExecutablePath		= /home/jlblanco/code/momr-release/bin
	
	//crucial processes

	Run = MOOSDB        @  NewConsole = false

	Run = pGenericSensor       @       NewConsole=false ~ LASER1
	
	// MOOS-Scope: Visualizer of MOOS-DB	
	Run = uMS       @       NewConsole=false
}

ProcessConfig = LASER1
{
	CommsTick = 100
	AppTick = 100

	driver			= CHokuyoURG
	process_rate		= 90		; Hz

	sensorLabel  		= HOKUYO_UTM
	pose_x			= 0	; Laser range scaner 3D position in the robot (meters)
	pose_y			= 0
	pose_z			= 0.31
	pose_yaw		= 0	; Angles in degrees
	pose_pitch		= 0
	pose_roll		= 0

	COM_port_WIN			= COM7
	COM_port_LIN			= ttyACM1

}