Revision: 7592
http://playerstage.svn.sourceforge.net/playerstage/?rev=7592&view=rev
Author: natepak
Date: 2009-04-10 14:55:29 +0000 (Fri, 10 Apr 2009)
Log Message:
-----------
Updated the laser examples
Modified Paths:
--------------
code/gazebo/trunk/examples/player/laser/laser.cc
Added Paths:
-----------
code/gazebo/trunk/examples/libgazebo/laser/
code/gazebo/trunk/examples/libgazebo/laser/SConstruct
code/gazebo/trunk/examples/libgazebo/laser/laser.cc
Added: code/gazebo/trunk/examples/libgazebo/laser/SConstruct
===================================================================
--- code/gazebo/trunk/examples/libgazebo/laser/SConstruct
(rev 0)
+++ code/gazebo/trunk/examples/libgazebo/laser/SConstruct 2009-04-10
14:55:29 UTC (rev 7592)
@@ -0,0 +1,16 @@
+
+# 3rd party packages
+parseConfigs=['pkg-config --cflags --libs libgazebo']
+
+env = Environment (
+ CC = 'g++',
+
+ CCFLAGS = Split ('-pthread -pipe -W -Wall -O2'),
+)
+
+
+# Parse all the pacakge configurations
+for cfg in parseConfigs:
+ env.ParseConfig(cfg)
+
+env.Program('laser','laser.cc')
Added: code/gazebo/trunk/examples/libgazebo/laser/laser.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/laser/laser.cc
(rev 0)
+++ code/gazebo/trunk/examples/libgazebo/laser/laser.cc 2009-04-10 14:55:29 UTC
(rev 7592)
@@ -0,0 +1,67 @@
+#include <string.h>
+#include <iostream>
+#include <math.h>
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.h>
+
+int main()
+{
+ gazebo::Client *client = new gazebo::Client();
+ gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
+ gazebo::LaserIface *laserIface = new gazebo::LaserIface();
+
+ int serverId = 0;
+
+ /// Connect to the libgazebo server
+ try
+ {
+ client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch (std::string e)
+ {
+ std::cout << "Gazebo error: Unable to connect\n" << e << "\n";
+ return -1;
+ }
+
+ /// Open the Simulation Interface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cout << "Gazebo error: Unable to connect to the sim interface\n" << e
<< "\n";
+ return -1;
+ }
+
+ /// Open the Simulation Interface
+ try
+ {
+ laserIface->Open(client, "laser_iface_0");
+ }
+ catch (std::string e)
+ {
+ std::cout << "Gazebo error: Unable to connect to the laser interface\n" <<
e << "\n";
+ return -1;
+ }
+
+ while (true)
+ {
+ float maxRange = 0;
+ for (int i = 0; i < laserIface->data->range_count; i++)
+ {
+ if (laserIface->data->ranges[i] > maxRange)
+ maxRange = laserIface->data->ranges[i];
+ }
+ printf("Max Range[%f]\n",maxRange);
+ usleep(10000);
+ }
+
+ laserIface->Close();
+ simIface->Close();
+
+ delete laserIface;
+ delete simIface;
+ return 0;
+}
+
Modified: code/gazebo/trunk/examples/player/laser/laser.cc
===================================================================
--- code/gazebo/trunk/examples/player/laser/laser.cc 2009-04-09 22:51:12 UTC
(rev 7591)
+++ code/gazebo/trunk/examples/player/laser/laser.cc 2009-04-10 14:55:29 UTC
(rev 7592)
@@ -29,7 +29,7 @@
std::cout << "Laser Pose[" << laserPose.px << " " <<
laserPose.py << " " << laserPose.pyaw << "]\n";
- /*for (;;)
+ for (;;)
{
// This blocks until new data comes
robot.Read();
@@ -39,7 +39,7 @@
printf("[%f %d]", lp.GetRange(i), lp.GetIntensity(i) );
}
printf("\n");
- }*/
+ }
}
catch (PlayerCc::PlayerError e)
{
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