Revision: 7015 http://playerstage.svn.sourceforge.net/playerstage/?rev=7015&view=rev Author: natepak Date: 2008-09-09 22:02:13 +0000 (Tue, 09 Sep 2008)
Log Message: ----------- Added libgazebo bumper example Added Paths: ----------- code/gazebo/trunk/examples/libgazebo/bumper/ code/gazebo/trunk/examples/libgazebo/bumper/SConstruct code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc Added: code/gazebo/trunk/examples/libgazebo/bumper/SConstruct =================================================================== --- code/gazebo/trunk/examples/libgazebo/bumper/SConstruct (rev 0) +++ code/gazebo/trunk/examples/libgazebo/bumper/SConstruct 2008-09-09 22:02:13 UTC (rev 7015) @@ -0,0 +1,17 @@ + +# 3rd party packages +parseConfigs=['pkg-config --cflags --libs libgazebo', + 'pkg-config --cflags --libs libgazeboServer'] + + +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/libgazebo/bumper/bumper.cc =================================================================== --- code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc (rev 0) +++ code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc 2008-09-09 22:02:13 UTC (rev 7015) @@ -0,0 +1,55 @@ +#include <gazebo/gazebo.h> +#include <gazebo/GazeboError.hh> + +int main() +{ + gazebo::Client *client = new gazebo::Client(); + gazebo::BumperIface *bumperIface = new gazebo::BumperIface(); + + int serverId = 0; + + /// Connect to the libgazebo server + try + { + client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST); + } + catch (gazebo::GazeboError e) + { + std::cout << "Gazebo error: Unable to connect\n" << e << "\n"; + return -1; + } + + /// Open the bumper Interface + try + { + bumperIface->Open(client, "bumper_iface"); + } + catch (std::string e) + { + std::cout << "Gazebo error: Unable to connect to the bumper interface\n" << e << "\n"; + return -1; + } + + for (int i=0; i< 10; i++) + { + bumperIface->Lock(1); + int bump_count = bumperIface->data->bumper_count; + + printf("Bump Count[%d]\n", bump_count); + + for (int c = 0; c < bump_count; c++) + { + printf(" State[%d]\n", bumperIface->data->bumpers[c]); + } + + bumperIface->Unlock(); + + usleep(100000); + } + + + bumperIface->Close(); + delete bumperIface; + return 0; +} + This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit