The name "Pluto" is the Roman name for the Greek mythological god Hades, who is also the lord of the underworld. The Devil's Treasure - From this comic adaptation of the same cartoon, Papa Pluto appeared as the antagonist, under the name "The Flying Dutchdevil". Papa Pluto's Pitchfork - Though not physically appearing in the comic himself, Papa Pluto's pitchfork was delivered to Bendy, which he will own the pitchfork and use it to make wishes to become a rich billionaire. Although both Papa Pluto and Bendy are related and are both demons, they actually are enemies. He has full details for his pie-cut eyes, especially including irises.Īs the king of hell, Papa Pluto is sinister and malicious. He has bat-like ears, spike-shaped horns, black hair, a crooked nose, and razor-sharp teeth. In this example full forward throttle is applied when the range drops to a minimum (first AUTO section before 23.06.58 and the last AUTO section just before 23.07.38).Papa Pluto is a slight slender-looking demon wearing a black suit, a Dracula-styled cape collar, a bowtie, and a pair of white gloves with small pointy nails. The rover is still driving into obstacles and does not back away. OA_DB_BEAM_WIDTH is set to the diameter of the simulated sonar cone (30 deg). What is the correct way to set it in relation to OA_MARGIN_MAX and RNGFND1_MIN_CM? RNGFND1_GNDCLEAR is set it to a large value because the sensor beam is adjusted to not intersect the ground plane, although in a practical case it will. RGB, depth, thermal cameras, and following your suggestion I’ve updated the parameters to: # RangeFinder On the other hand the camera and sensor support is already quite good. The sim should work with copters - the basic tests use an Iris quadcopter model which is running ok but the aerodynamics model won’t be as good as some other choices of simulator, but that’s something that could be improved if there is demand. The updated Ogre2 render engine for Ignition is good and supports a similar PBR workflow to UE5 and Unity, so it’s possible to have much better visuals. I’ll make the changes you suggest and update the video and log. Even so, the rover does still get eventually get stuck if it approaches a barrier too closely (as it does on the first approach). I’ve realised my example has a mistake in that I’ve set one WP beyond the barrier - but the rover should probably slide along the barrier looking for a gap in that case. I didn’t appreciate that both avoidance algorithms would be running concurrently. Shared with thanks for getting back so quickly! I’d like to include a fully working rover avoidance use case in a write up on how to get SITL working with Ignition (with rear and side sensors as well). In the second AUTO section, after backing away under MANUAL, the rover navigates towards the WP, avoids some obstacles but eventually becomes stuck on a second barrier stopping once again. In the first AUTO section the rover approaches the barrier slows, backs up slightly then stops - which looks like the behaviour for Simple Avoidance rather than Bendy-Ruler. 
Other parameters are configured according to the wiki. With no obstacle it is returning a range of ~ 5m, so I have set the RNGFND1_MAX_CM = 450 so that it clears in that case. I’ve configured a single forward facing simulated range sensor to not have any ground return to remove any artefacts that might arise from that. I’m having some trouble getting the parameters for Bendy-Ruler avoidance configured correctly and would appreciate some guidance on where I might be going wrong.
Hi and I’ve been working on getting Ignition Gazebo running with ArduPilot using the SITL-JSON backend, and have been testing range sensor support with ArduRover V4.1.0-rc1 (723b1f86).
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