Revision: 7013
http://playerstage.svn.sourceforge.net/playerstage/?rev=7013&view=rev
Author: natepak
Date: 2008-09-09 21:58:55 +0000 (Tue, 09 Sep 2008)
Log Message:
-----------
Added bumper player example
Added Paths:
-----------
code/gazebo/trunk/examples/player/bumper/
code/gazebo/trunk/examples/player/bumper/.player
code/gazebo/trunk/examples/player/bumper/.sconsign.dblite
code/gazebo/trunk/examples/player/bumper/SConstruct
code/gazebo/trunk/examples/player/bumper/bumper.cc
code/gazebo/trunk/examples/player/bumper/player.cfg
Added: code/gazebo/trunk/examples/player/bumper/.player
===================================================================
--- code/gazebo/trunk/examples/player/bumper/.player
(rev 0)
+++ code/gazebo/trunk/examples/player/bumper/.player 2008-09-09 21:58:55 UTC
(rev 7013)
@@ -0,0 +1,11 @@
+/home/nate/work/psg/player/libplayercore/plugins.cc:158 trying to load
/home/nate/work/psg/gazebo/trunk/examples/player/bumper/./libgazeboplugin...
+/home/nate/work/psg/player/libplayercore/plugins.cc:162 failed
(/home/nate/work/psg/gazebo/trunk/examples/player/bumper/./libgazeboplugin.so:
cannot open shared object file: No such file or directory)
+
+/home/nate/work/psg/player/libplayercore/plugins.cc:173 trying to load
/home/nate/local/lib/libgazeboplugin...
+/home/nate/work/psg/player/libplayercore/plugins.cc:175 success
+/home/nate/work/psg/player/libplayercore/plugins.cc:215 invoking
player_driver_init()...
+/home/nate/work/psg/player/libplayercore/plugins.cc:231 success
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:288 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:850 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:462 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:385 closing TCP
connection to client 0 on port 6665
Property changes on: code/gazebo/trunk/examples/player/bumper/.sconsign.dblite
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: code/gazebo/trunk/examples/player/bumper/SConstruct
===================================================================
--- code/gazebo/trunk/examples/player/bumper/SConstruct
(rev 0)
+++ code/gazebo/trunk/examples/player/bumper/SConstruct 2008-09-09 21:58:55 UTC
(rev 7013)
@@ -0,0 +1,16 @@
+
+# 3rd party packages
+parseConfigs=['pkg-config --cflags --libs playerc++']
+
+
+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('bumper','bumper.cc')
Added: code/gazebo/trunk/examples/player/bumper/bumper.cc
===================================================================
--- code/gazebo/trunk/examples/player/bumper/bumper.cc
(rev 0)
+++ code/gazebo/trunk/examples/player/bumper/bumper.cc 2008-09-09 21:58:55 UTC
(rev 7013)
@@ -0,0 +1,44 @@
+#include <libplayerc++/playerc++.h>
+#include <iostream>
+
+int main()
+{
+ // We throw exceptions on creation if we fail
+ try
+ {
+ using namespace PlayerCc;
+ using namespace std;
+
+ // Create a player client object, using the variables assigned by the
+ // call to parse_args()
+ PlayerClient robot(PlayerCc::PLAYER_HOSTNAME, PlayerCc::PLAYER_PORTNUM);
+
+ // Subscribe to the simulation proxy
+ SimulationProxy sp(&robot, 0);
+
+ BumperProxy bp(&robot, 0);
+
+ // Print out some stuff
+ std::cout << robot << std::endl;
+
+ for (int i=0; i< 20; i++)
+ {
+ robot.Read();
+
+ printf("Bumper Count[%d]\n", bp.GetCount());
+
+ for (unsigned int j=0; j < bp.GetCount(); j++)
+ {
+ printf(" State[%d] = %d\n", j, bp.IsBumped(j));
+ }
+
+ usleep(100000);
+ }
+
+ }
+ catch (PlayerCc::PlayerError e)
+ {
+ std::cerr << "Error:" << e << std::endl;
+ return -1;
+ }
+}
Property changes on: code/gazebo/trunk/examples/player/bumper/bumper.cc
___________________________________________________________________
Added: svn:executable
+ *
Added: code/gazebo/trunk/examples/player/bumper/player.cfg
===================================================================
--- code/gazebo/trunk/examples/player/bumper/player.cfg
(rev 0)
+++ code/gazebo/trunk/examples/player/bumper/player.cfg 2008-09-09 21:58:55 UTC
(rev 7013)
@@ -0,0 +1,20 @@
+
+# Desc: Player sample configuration file for controlling Gazebo devices
+# Date: 18 Apr 2003
+# CVS: $Id: gazebo.cfg,v 1.4.2.1 2006/12/16 22:43:23 natepak Exp $
+
+driver
+(
+ name "gazebo"
+ provides ["simulation:0"]
+ plugin "libgazeboplugin"
+ server_id "default"
+)
+
+driver
+(
+ name "gazebo"
+ provides ["bumper:0"]
+ gz_id "bumper_iface"
+)
+
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