Revision: 7113
http://playerstage.svn.sourceforge.net/playerstage/?rev=7113&view=rev
Author: natepak
Date: 2008-10-22 17:28:44 +0000 (Wed, 22 Oct 2008)
Log Message:
-----------
Updates to examples
Modified Paths:
--------------
code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc
code/gazebo/trunk/examples/player/camera/player.cfg
code/gazebo/trunk/examples/player/ptz/.player
code/gazebo/trunk/examples/player/ptz/camera.cc
Modified: code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc 2008-10-22
00:55:57 UTC (rev 7112)
+++ code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc 2008-10-22
17:28:44 UTC (rev 7113)
@@ -1,6 +1,17 @@
#include <gazebo/gazebo.h>
#include <gazebo/GazeboError.hh>
+#include <math.h>
+
+#define DTOR(d) ((d) * M_PI / 180)
+#define RTOD(r) ((r) * 180 / M_PI)
+
+enum Joint {HEAD, NECK, R_SHOULDER, R_SHOULDER2, R_ELBOW, R_ELBOW2,
+ R_WRIST, R_WRIST2, R_HAND,
+ L_SHOULDER, L_SHOULDER2, L_ELBOW, L_ELBOW2, L_WRIST,
+ L_WRIST2, L_HAND, NUM_JOINTS};
+
+
int main()
{
gazebo::Client *client = new gazebo::Client();
@@ -43,7 +54,27 @@
return -1;
}
- while (true)
+ printf("Shoulder2[%f]\n",
RTOD(actarrayIface->data->actuators[R_SHOULDER2].position));
+
+ actarrayIface->data->cmd_pos[R_SHOULDER2] = DTOR(80);
+ actarrayIface->data->cmd_pos[R_ELBOW] = DTOR(90);
+ usleep(1000000);
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(100);
+ usleep(500000);
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(0);
+ usleep(500000);
+
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(100);
+ usleep(500000);
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(0);
+ usleep(500000);
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(100);
+
+ actarrayIface->data->cmd_pos[R_ELBOW2] = DTOR(0);
+ actarrayIface->data->cmd_pos[R_SHOULDER2] = DTOR(0);
+ sleep(2);
+
+ /*while (true)
{
actarrayIface->Lock(1);
actarrayIface->data->cmd_pos[16] = 0.3;
@@ -52,8 +83,7 @@
actarrayIface->data->cmd_pos[19] = -0.3;
actarrayIface->Unlock();
- usleep(100000);
- }
+ }*/
return 0;
}
Modified: code/gazebo/trunk/examples/player/camera/player.cfg
===================================================================
--- code/gazebo/trunk/examples/player/camera/player.cfg 2008-10-22 00:55:57 UTC
(rev 7112)
+++ code/gazebo/trunk/examples/player/camera/player.cfg 2008-10-22 17:28:44 UTC
(rev 7113)
@@ -12,7 +12,7 @@
provides ["camera:0"]
gz_id "camera_iface_0"
alwayson 1
- save 1
+ save 0
)
driver
Modified: code/gazebo/trunk/examples/player/ptz/.player
===================================================================
--- code/gazebo/trunk/examples/player/ptz/.player 2008-10-22 00:55:57 UTC
(rev 7112)
+++ code/gazebo/trunk/examples/player/ptz/.player 2008-10-22 17:28:44 UTC
(rev 7113)
@@ -223077,3 +223077,44 @@
plugins.cc:233 success
playertcp.cc:283 accepted TCP client 0 on port 6665, fd 7
playertcp.cc:377 closing TCP connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayercore/plugins.cc:189 loading plugin
libgazeboplugin
+/home/nate/work/psg/player/libplayercore/plugins.cc:223 invoking
player_driver_init()...
+/home/nate/work/psg/player/libplayercore/plugins.cc:239 success
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:853 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:465 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayercore/filewatcher.cc:84 error : Select
called failed in File Watcher: 4 Interrupted system call
+/home/nate/work/psg/player/libplayercore/plugins.cc:189 loading plugin
libgazeboplugin
+/home/nate/work/psg/player/libplayercore/plugins.cc:223 invoking
player_driver_init()...
+/home/nate/work/psg/player/libplayercore/plugins.cc:239 success
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:853 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:465 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:457 warning : other error
on client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:853 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:465 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:853 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:465 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayercore/filewatcher.cc:84 error : Select
called failed in File Watcher: 4 Interrupted system call
+/home/nate/work/psg/player/libplayercore/plugins.cc:189 loading plugin
libgazeboplugin
+/home/nate/work/psg/player/libplayercore/plugins.cc:223 invoking
player_driver_init()...
+/home/nate/work/psg/player/libplayercore/plugins.cc:239 success
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayercore/filewatcher.cc:84 error : Select
called failed in File Watcher: 4 Interrupted system call
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayercore/plugins.cc:189 loading plugin
libgazeboplugin
+/home/nate/work/psg/player/libplayercore/plugins.cc:223 invoking
player_driver_init()...
+/home/nate/work/psg/player/libplayercore/plugins.cc:239 success
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:289 accepted TCP client 0
on port 6665, fd 7
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:853 read() read zero bytes
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:465 failed to read from
client 0
+/home/nate/work/psg/player/libplayertcp/playertcp.cc:388 closing TCP
connection to client 0 on port 6665
+/home/nate/work/psg/player/libplayercore/filewatcher.cc:84 error : Select
called failed in File Watcher: 4 Interrupted system call
Modified: code/gazebo/trunk/examples/player/ptz/camera.cc
===================================================================
--- code/gazebo/trunk/examples/player/ptz/camera.cc 2008-10-22 00:55:57 UTC
(rev 7112)
+++ code/gazebo/trunk/examples/player/ptz/camera.cc 2008-10-22 17:28:44 UTC
(rev 7113)
@@ -16,10 +16,16 @@
// Subscribe to the camera proxy
PtzProxy ptzp(&robot, 0);
+ while (true)
+ {
+ robot.Read();
+ ptzp.SetCam(30,10,0 );
+ }
}
catch (PlayerCc::PlayerError e)
{
std::cerr << "Error:" << e << std::endl;
return -1;
}
+
}
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