Revision: 8040
http://playerstage.svn.sourceforge.net/playerstage/?rev=8040&view=rev
Author: thjc
Date: 2009-07-16 18:58:03 +0000 (Thu, 16 Jul 2009)
Log Message:
-----------
added example from patch 2707273
A new example using libplayerc_py
Added Paths:
-----------
code/player/trunk/examples/python/
code/player/trunk/examples/python/laser_obstacle_avoid.py
Added: code/player/trunk/examples/python/laser_obstacle_avoid.py
===================================================================
--- code/player/trunk/examples/python/laser_obstacle_avoid.py
(rev 0)
+++ code/player/trunk/examples/python/laser_obstacle_avoid.py 2009-07-16
18:58:03 UTC (rev 8040)
@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+
+import math
+from playerc import *
+
+def limit(val, bottom, top):
+ if val > top:
+ return top
+ elif val < bottom:
+ return bottom
+ return val
+
+# Create a client object
+c = playerc_client(None, 'localhost', 6665)
+# Connect it
+if c.connect() != 0:
+ raise playerc_error_str()
+
+# Create a proxy for position2d:0
+p = playerc_position2d(c,0)
+if p.subscribe(PLAYERC_OPEN_MODE) != 0:
+ raise playerc_error_str()
+
+# Retrieve the geometry
+if p.get_geom() != 0:
+ raise playerc_error_str()
+print 'Robot size: (%.3f,%.3f)' % (p.size[0], p.size[1])
+
+# Create a proxy for laser:0
+l = playerc_laser(c,0)
+if l.subscribe(PLAYERC_OPEN_MODE) != 0:
+ raise playerc_error_str()
+
+# Retrieve the geometry
+if l.get_geom() != 0:
+ raise playerc_error_str()
+#print 'Laser pose: (%.3f,%.3f,%.3f)' % (l.pose[0],l.pose[1],l.pose[2])
+
+while True:
+ if c.read() == None:
+ raise playerc_error_str()
+ minR = l.min_right
+ minL = l.min_left
+
+ print "minR:", minR, "minL:", minL
+ left = (1e5*minR)/500-100
+ right = (1e5*minL)/500-100
+
+ if left > 100:
+ left = 100
+ if right > 100:
+ right = 100
+
+ newspeed = (right+left)/1e3
+
+ newturnrate = (right-left)
+ newturnrate = limit(newturnrate, -40.0, 40.0)
+ newturnrate = math.radians(newturnrate)
+
+ print "speed: ", newspeed, "turn: ", newturnrate
+ print help(p.set_cmd_vel)
+
+ p.set_cmd_vel(newspeed, newspeed, newturnrate, 1)
+
+# Clean up
+p.unsubscribe()
+l.unsubscribe()
+c.disconnect()
+
+
+
Property changes on: code/player/trunk/examples/python/laser_obstacle_avoid.py
___________________________________________________________________
Added: svn:mime-type
+ text/plain
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