This chapter shows how to add your own custom entities and services to the simulation environment. It defines a new four-wheel-drive robot with a camera and IR distance sensors along with the services needed to drive the motors and read the sensor values. This robot is based on the CoroBot from CoroWare.
This chapter contains several projects:
As you can see from the screenshot below, the simulated CoroBot looks a lot like a real CoroBot (photo courtesy of CoroWare). It has four wheels, a webcam mounted at the front, and front and rear Infrared sensors. You can see the IR sensor impact points (red dots) on the wall behind the robot. In reality, you cannot see infrared, but this visualization makes it easier during testing.
This code is available free of charge for non-commercial use. Please see the Licence Agreement.