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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>libplayerc_py example<br/>
<small>
[<a class="el" href="group__player__clientlib__libplayerc__py.html">libplayerc_py</a>]</small>
</h1>  </div>
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<p>An example of using libplayerc_py.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>An example of using libplayerc_py. </p>
<div class="fragment"><pre class="fragment"><span class="comment">#!/usr/bin/env python</span>

<span class="comment">#Copyright (c) 2006, Brian Gerkey</span>
<span class="comment">#All rights reserved.</span>
<span class="comment">#</span>
<span class="comment">#Redistribution and use in source and binary forms, with or without </span>
<span class="comment">#modification, are permitted provided that the following conditions are met:</span>
<span class="comment">#</span>
<span class="comment">#    * Redistributions of source code must retain the above copyright notice, </span>
<span class="comment">#      this list of conditions and the following disclaimer.</span>
<span class="comment">#    * Redistributions in binary form must reproduce the above copyright notice,</span>
<span class="comment">#      this list of conditions and the following disclaimer in the documentation</span>
<span class="comment">#      and/or other materials provided with the distribution.</span>
<span class="comment">#    * Neither the name of the Player Project nor the names of its contributors </span>
<span class="comment">#      may be used to endorse or promote products derived from this software </span>
<span class="comment">#      without specific prior written permission.</span>
<span class="comment">#</span>
<span class="comment">#THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<span class="comment">#ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED </span>
<span class="comment">#WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE </span>
<span class="comment">#DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR</span>
<span class="comment">#ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES </span>
<span class="comment">#(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; </span>
<span class="comment">#LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON </span>
<span class="comment">#ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT </span>
<span class="comment">#(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS </span>
<span class="comment">#SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>

<span class="keyword">import</span> math
<span class="keyword">from</span> playerc <span class="keyword">import</span> *

<span class="comment"># Create a client object</span>
c = playerc_client(<span class="keywordtype">None</span>, <span class="stringliteral">&#39;localhost&#39;</span>, 6665)
<span class="comment"># Connect it</span>
<span class="keywordflow">if</span> c.connect() != 0:
  <span class="keywordflow">raise</span> playerc_error_str()

<span class="comment"># Create a proxy for position2d:0</span>
p = playerc_position2d(c,0)
<span class="keywordflow">if</span> p.subscribe(PLAYERC_OPEN_MODE) != 0:
  <span class="keywordflow">raise</span> playerc_error_str()

<span class="comment"># Retrieve the geometry</span>
<span class="keywordflow">if</span> p.get_geom() != 0:
  <span class="keywordflow">raise</span> playerc_error_str()
<span class="keywordflow">print</span> <span class="stringliteral">&#39;Robot size: (%.3f,%.3f)&#39;</span> % (p.size[0], p.size[1])

<span class="comment"># Create a proxy for laser:0</span>
l = playerc_laser(c,0)
<span class="keywordflow">if</span> l.subscribe(PLAYERC_OPEN_MODE) != 0:
  <span class="keywordflow">raise</span> playerc_error_str()

<span class="comment"># Retrieve the geometry</span>
<span class="keywordflow">if</span> l.get_geom() != 0:
  <span class="keywordflow">raise</span> playerc_error_str()
<span class="keywordflow">print</span> <span class="stringliteral">&#39;Laser pose: (%.3f,%.3f,%.3f)&#39;</span> % (l.pose[0],l.pose[1],l.pose[2])

<span class="comment"># Start the robot turning CCW at 20 deg / sec</span>
p.set_cmd_vel(0.0, 0.0, 20.0 * math.pi / 180.0, 1)

<span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0,30):
  <span class="keywordflow">if</span> c.read() == <span class="keywordtype">None</span>:
    <span class="keywordflow">raise</span> playerc_error_str()

  <span class="keywordflow">print</span> <span class="stringliteral">&#39;Robot pose: (%.3f,%.3f,%.3f)&#39;</span> % (p.px,p.py,p.pa)
  laserscanstr = <span class="stringliteral">&#39;Partial laser scan: &#39;</span>
  <span class="keywordflow">for</span> j <span class="keywordflow">in</span> range(0,5):
    <span class="keywordflow">if</span> j &gt;= l.scan_count:
      <span class="keywordflow">break</span>
    laserscanstr += <span class="stringliteral">&#39;%.3f &#39;</span> % l.ranges[j]
  <span class="keywordflow">print</span> laserscanstr

<span class="comment"># Now turn the other way</span>
p.set_cmd_vel(0.0, 0.0, -20.0 * math.pi / 180.0, 1)

<span class="keywordflow">for</span> i <span class="keywordflow">in</span> range(0,30):
  <span class="keywordflow">if</span> c.read() == <span class="keywordtype">None</span>:
    <span class="keywordflow">raise</span> playerc_error_str()

  <span class="keywordflow">print</span> <span class="stringliteral">&#39;Robot pose: (%.3f,%.3f,%.3f)&#39;</span> % (p.px,p.py,p.pa)
  laserscanstr = <span class="stringliteral">&#39;Partial laser scan: &#39;</span>
  <span class="keywordflow">for</span> j <span class="keywordflow">in</span> range(0,5):
    <span class="keywordflow">if</span> j &gt;= l.scan_count:
      <span class="keywordflow">break</span>
    laserscanstr += <span class="stringliteral">&#39;%.3f &#39;</span> % l.ranges[j]
  <span class="keywordflow">print</span> laserscanstr

<span class="comment"># Now stop</span>
p.set_cmd_vel(0.0, 0.0, 0.0, 1)

<span class="comment"># Clean up</span>
p.unsubscribe()
l.unsubscribe()
c.disconnect()

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Last updated 12 September 2005 21:38:45
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