libplayerc_py example
[libplayerc_py]
Collaboration diagram for libplayerc_py example:
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#!/usr/bin/env python import math from playerc import * # Create a client object c = playerc_client(None, 'localhost', 6665) # Connect it if c.connect() != 0: raise playerc_error_str() # Create a proxy for position2d:0 p = playerc_position2d(c,0) if p.subscribe(PLAYERC_OPEN_MODE) != 0: raise playerc_error_str() # Retrieve the geometry if p.get_geom() != 0: raise playerc_error_str() print 'Robot size: (%.3f,%.3f)' % (p.size[0], p.size[1]) # Create a proxy for laser:0 l = playerc_laser(c,0) if l.subscribe(PLAYERC_OPEN_MODE) != 0: raise playerc_error_str() # Retrieve the geometry if l.get_geom() != 0: raise playerc_error_str() print 'Laser pose: (%.3f,%.3f,%.3f)' % (l.pose[0],l.pose[1],l.pose[2]) # Start the robot turning CCW at 20 deg / sec p.set_cmd_vel(0.0, 0.0, 20.0 * math.pi / 180.0, 1) for i in range(0,30): if c.read() == None: raise playerc_error_str() print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa) laserscanstr = 'Partial laser scan: ' for j in range(0,5): if j >= l.scan_count: break laserscanstr += '%.3f ' % l.ranges[j] print laserscanstr # Now turn the other way p.set_cmd_vel(0.0, 0.0, -20.0 * math.pi / 180.0, 1) for i in range(0,30): if c.read() == None: raise playerc_error_str() print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa) laserscanstr = 'Partial laser scan: ' for j in range(0,5): if j >= l.scan_count: break laserscanstr += '%.3f ' % l.ranges[j] print laserscanstr # Now stop p.set_cmd_vel(0.0, 0.0, 0.0, 1) # Clean up p.unsubscribe() l.unsubscribe() c.disconnect()