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MCP III.5 2009

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LRF

Main.LRF History

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Changed lines 32-35 from:
 #include <iostream>
 #include <libplayerc++/playerc++.h>

 /*
to:
[@
#include
<iostream>
#include <libplayerc++/playerc++.h>

/*
Changed lines 39-40 from:
 \*/
to:
*/
Changed lines 63-64 from:

to:
@]
Changed lines 35-39 from:
/*
g++ -o try_laser `pkg-config --cflags playerc++` try_laser.cpp `pkg-config --libs playerc++`

*/
to:
 /*
 g++ -o try_laser `pkg-config --cflags playerc++` try_laser.cpp `pkg-config --libs playerc++`

 \*/
Changed line 42 from:
{
to:
 {
Changed lines 47-48 from:
//  SonarProxy      sp(&robot,0);
//  Position2dProxy pp(&robot,0);
to:
 //  SonarProxy      sp(&robot,0);
 //  Position2dProxy pp(&robot,0);
Changed lines 31-32 from:
* Todo: Investigate the existing code, read relevant publications, and find out how to port/imporve the code to our new robot.
to:
* Player client code to read laser input:
 #include <iostream>
 #include <libplayerc++/playerc++.h>

/*
g++ -o try_laser `pkg-config --cflags playerc++` try_laser.cpp `pkg-config --libs playerc++`

*/

int
main(int argc, char *argv[])
{
  using namespace PlayerCc;
  double r1, r2, r3;

  PlayerClient    robot("localhost");
//  SonarProxy      sp(&robot,0);
//  Position2dProxy pp(&robot,0);
  LaserProxy lsp(&robot,0);

  for(;;)
  {
    // read from the proxies
    robot.Read();
    r1 = lsp.GetRange(100);
    r2 = lsp.GetRange(200);
    r3 = lsp.GetRange(300);
    // print out data
    std::cout << r1 << " " << r2 << " " << r3 << std::endl;
  }
 }

Changed lines 11-12 from:
** The config file contains hardware type, resolution information.
[@
to:
** The config file contains hardware type, resolution information. [@
Changed lines 11-12 from:
** The config file contains hardware type, resolution information. [@
to:
** The config file contains hardware type, resolution information.
[@
Added line 22:
Changed line 11 from:
** The config file contains hardware type, resolution information. [=
to:
** The config file contains hardware type, resolution information. [@
Changed line 20 from:
=]
to:
@]
Changed line 11 from:
** The config file contains hardware type, resolution information.
to:
** The config file contains hardware type, resolution information. [=
Changed line 20 from:
to:
=]
Changed lines 26-34 from:
** Photo 1: a chair on the left side.
Attach:laser_photo1.jpg

** Photo 2: Moved the chair to the right side and closer to the LRF:
Attach:
laser_photo2.jpg

* Todo:
Investigate the existing code, read relevant publications, and find out how to port/imporve the code to our new robot.
to:
** Photo 1: a chair on the left side. Attach:laser_photo1.jpg

** Photo 2: Moved the chair to the right side and closer to the LRF. Attach:laser_photo2.jpg

* Todo: Investigate the existing code, read relevant publications, and find out how to port/imporve the code to our new robot.
Changed line 11 from:
The config file contains hardware type, resolution information.
to:
** The config file contains hardware type, resolution information.
Changed lines 21-24 from:
- Bring up the player client -- "playerv", which read the data from network, and display it graphically. Run command: "playerv &"

- From the "playerv" menu, subcribe to laser, you will see the range information in a picture.
to:
** Bring up the player client -- "playerv", which read the data from network, and display it graphically. Run command: "playerv &"

** From the "playerv" menu, subcribe to laser, you will see the range information in a picture.
Changed line 26 from:
- Photo 1: a chair on the left side.
to:
** Photo 1: a chair on the left side.
Changed line 29 from:
- Photo 2: Moved the chair to the right side and closer to the LRF:
to:
** Photo 2: Moved the chair to the right side and closer to the LRF:
Changed line 36 from:
- Player/Stage/Gazebo Homepage: http://playerstage.sourceforge.net/
to:
** Player/Stage/Gazebo Homepage: http://playerstage.sourceforge.net/
Changed lines 6-8 from:
- The Laser Rangefinder is connected to serial port 1 on the robot's P4 computer (visionmcp).

- After login, start "player" with the laser config file. Run command: "player laser.cfg &"
to:
** The Laser Rangefinder is connected to serial port 1 on the robot's P4 computer (visionmcp).

** After login, start "player" with the laser config file. Run command: "player laser.cfg &"
Changed lines 8-11 from:
- After login, start "player" with the laser config file:
$ player laser.cfg &
  "player" read the LRF data, and make them available via network.
to:
- After login, start "player" with the laser config file. Run command: "player laser.cfg &"
  The player reads the LRF data, and makes them available via network.
Changed lines 21-23 from:
- Bring up the player client -- "playerv", which read the data from network, and display it graphically.
$ playerv &
to:
- Bring up the player client -- "playerv", which read the data from network, and display it graphically. Run command: "playerv &"
Changed line 36 from:
http://playerstage.sourceforge.net/
to:
- Player/Stage/Gazebo Homepage: http://playerstage.sourceforge.net/
Changed lines 1-5 from:
'''Laser Range Finder'''

* Laser Range Finder is used to help the robot avoid barriers.

* Our robot uses "SICK LMS200"
to:
'''Laser Range Finder (LRF)'''

* Laser Range Finder is used to help the robot avoid hitting barriers.

* Our robot uses "SICK LMS200" LRF
Changed line 8 from:
- After login, start player with the laser config file:
to:
- After login, start "player" with the laser config file:
Changed lines 10-11 from:

The config file contains:
to:
  "player" read the LRF data, and make them available via network.

The config file
contains hardware type, resolution information.
Changed lines 19-20 from:
  range_res 1      # Range resolution 1 mm (maximum
range
8.192m)
to:
  range_res 1      # Range resolution 1 mm (maximumrange 8.192m)
Changed line 22 from:
- bring up the player client:
to:
- Bring up the player client -- "playerv", which read the data from network, and display it graphically.
Changed lines 25-26 from:
- From the menu, subcribe to laser, you will see the range information in a picture.
to:
- From the "playerv" menu, subcribe to laser, you will see the range information in a picture.
Added line 28:
- Photo 1: a chair on the left side.
Added lines 30-38:

- Photo 2: Moved the chair to the right side and closer to the LRF:
Attach:laser_photo2.jpg

* Todo:
Investigate the existing code, read relevant publications, and find out how to port/imporve the code to our new robot.

* References:
http://playerstage.sourceforge.net/
Changed line 28 from:
attachment:laser_photo1.jpb
to:
Attach:laser_photo1.jpg
Changed line 28 from:
to:
attachment:laser_photo1.jpb
Changed lines 25-26 from:
# From the menu, subcribe to laser, you will see the range information in a picture.
to:
- From the menu, subcribe to laser, you will see the range information in a picture.
Changed lines 6-8 from:
# The Laser Rangefinder is connected to serial port 1 on the robot's P4 computer (visionmcp).

# After login, start player with the laser config file:
to:
- The Laser Rangefinder is connected to serial port 1 on the robot's P4 computer (visionmcp).

- After login, start player with the laser config file:
Changed line 22 from:
# bring up the player client:
to:
- bring up the player client:
Changed lines 5-9 from:
The Laser Range finder is connected to serial port 1
on the robot's P4 computer (visionmcp).

After login, start player with the laser
config
file:
to:
* Our robot uses "SICK LMS200"
# The Laser Rangefinder is connected to serial port 1 on the robot's P4 computer (visionmcp).

# After login, start player with the laser
config file:
Changed lines 22-26 from:
Then, bring up the player client:
# playerv &

Subcribe to laser, you will see the range
information.
to:
# bring up the player client:
$ playerv &

# From the menu, subcribe to laser, you will see the range information in a picture.

* Sample pictures:

Changed lines 1-27 from:
'''Laser Range Finder related files'''
to:
'''Laser Range Finder'''

* Laser Range Finder is used to help the robot avoid barriers.

The Laser Range finder is connected to serial port 1
on the robot's P4 computer (visionmcp).

After login, start player with the laser config
file:
$ player laser.cfg &

The config file contains:
driver
(
  name "sicklms200"
  provides ["laser:0"]
  port "/dev/ttyS1" #serial port 1
  resolution 50  # angle resolution 0.5 degree
  range_res 1      # Range resolution 1 mm (maximum
range 8.192m)
)

Then, bring up the player client:
# playerv &

Subcribe to laser, you will see the range
information.
Changed line 1 from:
Laser Range Finder related files
to:
'''Laser Range Finder related files'''
February 15, 2007, at 12:10 AM by Haiyang - Laser Range Finder
Added line 1:
Laser Range Finder related files
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Page last modified on April 11, 2007, at 01:08 AM