Revision: 7962
http://playerstage.svn.sourceforge.net/playerstage/?rev=7962&view=rev
Author: robotos
Date: 2009-07-09 14:40:27 +0000 (Thu, 09 Jul 2009)
Log Message:
-----------
Ruby position and bumper examples
Added Paths:
-----------
code/gazebo/trunk/examples/ruby/
code/gazebo/trunk/examples/ruby/bumper.rb
code/gazebo/trunk/examples/ruby/position.rb
Added: code/gazebo/trunk/examples/ruby/bumper.rb
===================================================================
--- code/gazebo/trunk/examples/ruby/bumper.rb (rev 0)
+++ code/gazebo/trunk/examples/ruby/bumper.rb 2009-07-09 14:40:27 UTC (rev
7962)
@@ -0,0 +1,31 @@
+#TODO:test this
+require 'gazeboc'
+
+begin
+ client = Gazeboc::Client.new
+ bumperIface = Gazeboc::BumperIface.new
+rescue Exception => e
+ puts "Gazebo exceptions can be catched on Ruby"
+ raise "initialization impossible, bindings installed?"
+end
+
+client.Connect 0
+
+posIface.Open client, "PUT_BUMPER_IFACE_HERE"
+posIface.Lock 1
+posIface.data.cmdEnableMotors = 1
+posIface.Unlock
+
+10.times do
+
+ bumIface.Lock 1
+ count = bumperIface.data.bumper_count
+
+ count.times do |i]
+ puts bumberIface.data.bumpers[i].to_s
+ end
+ bumIface.Unlock
+ sleep(0.1
+end
+
+bumperIface.Close
Added: code/gazebo/trunk/examples/ruby/position.rb
===================================================================
--- code/gazebo/trunk/examples/ruby/position.rb (rev 0)
+++ code/gazebo/trunk/examples/ruby/position.rb 2009-07-09 14:40:27 UTC (rev
7962)
@@ -0,0 +1,36 @@
+#based on pioneer2d world
+#equivalent to the libgazebo/position example
+
+require 'gazeboc'
+
+begin
+ client = Gazeboc::Client.new
+ simIface = Gazeboc::SimulationIface.new
+ posIface = Gazeboc::PositionIface.new
+rescue Exception => e
+ puts "Gazebo exceptions can be catched on Ruby"
+ raise "initialization impossible, bindings installed?"
+end
+
+client.Connect 0
+
+posIface.Open client, "pioneer2dx_model1::position_iface_0"
+posIface.Lock 1
+posIface.data.cmdEnableMotors = 1
+posIface.Unlock
+
+
+while true
+
+ posIface.Lock 1
+ posIface.data.cmdVelocity.pos.x = 0.2
+ posIface.data.cmdVelocity.yaw = -0.1
+ posIface.Unlock
+ sleep 1
+ pose = posIface.data.pose.pos
+ puts "position: (%.3f, %.3f, %.3f)" % [pose.x, pose.y, pose.z]
+
+end
+
+posIface.Close
+simIface.Close
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