An example of using libplayerc_py.
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An example of using libplayerc_py.
33 c = playerc_client(
None,
'localhost', 6665)
39 p = playerc_position2d(c,0)
40 if p.subscribe(PLAYERC_OPEN_MODE) != 0:
46 print 'Robot size: (%.3f,%.3f)' % (p.size[0], p.size[1])
49 l = playerc_laser(c,0)
50 if l.subscribe(PLAYERC_OPEN_MODE) != 0:
56 print 'Laser pose: (%.3f,%.3f,%.3f)' % (l.pose[0],l.pose[1],l.pose[2])
59 p.set_cmd_vel(0.0, 0.0, 20.0 * math.pi / 180.0, 1)
65 print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa)
66 laserscanstr =
'Partial laser scan: '
70 laserscanstr +=
'%.3f ' % l.ranges[j]
74 p.set_cmd_vel(0.0, 0.0, -20.0 * math.pi / 180.0, 1)
80 print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa)
81 laserscanstr =
'Partial laser scan: '
85 laserscanstr +=
'%.3f ' % l.ranges[j]
89 p.set_cmd_vel(0.0, 0.0, 0.0, 1)