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Revision af0d9743

IDaf0d974309704bd4784c74078aea0851fe280f91

Added by Alex Zirbel about 12 years ago

Added template linesensors to scoutsim

View differences:

scout/scoutsim/CMakeLists.txt
36 36 
#rosbuild_add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
37 37 
#rosbuild_add_executable(draw_square tutorials/draw_square.cpp)
38 38 
#rosbuild_add_executable(mimic tutorials/mimic.cpp)
39 
rosbuild_add_executable(scout_teleop src/scout_teleop.cpp)
40 
rosbuild_add_executable(scout_teleop_userinput src/scout_teleop_userinput.cpp)
39 
#rosbuild_add_executable(scout_teleop src/scout_teleop.cpp)
40 
#rosbuild_add_executable(scout_teleop_userinput src/scout_teleop_userinput.cpp)
scout/scoutsim/manifest.xml
15 15 
  <depend package="std_srvs"/>
16 16 
  <depend package="motors" />
17 17 
  <depend package="encoders" />
18 
  <depend package="linesensor" />
18 19 
  <depend package="geometry_msgs" />
19 20
20 21 
  <rosdep name="wxwidgets"/>
scout/scoutsim/src/scout.cpp
53 53 
#define DEFAULT_PEN_G 0xb8
54 54 
#define DEFAULT_PEN_B 0xff
55 55 

  		




  
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using namespace std;


  		




  
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namespace scoutsim


  		




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{


  		




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    Scout::Scout(const ros::NodeHandle& nh,


  		




  ......




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                                  &Scout::query_encoders_callback,


  		




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                                  this);


  		




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        query_linesensor_srv =


  		




  
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            node.advertiseService("query_linesensor",


  		




  
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                                  &Scout::query_linesensor_callback,


  		




  
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                                  this);


  		




  
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        meter = scout.GetHeight();


  		




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    }


  		




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  ......




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        return true;


  		




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    }


  		




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    bool Scout::query_linesensor_callback(linesensor::query_linesensor::Request&,


  		




  
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                                          linesensor::query_linesensor::Response& res)


  		




  
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    {


  		




  
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        vector<unsigned int> readings;


  		




  
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        for (unsigned int i = 0; i < 8; i++)


  		




  
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        {


  		




  
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            readings.push_back(8 - i);


  		




  
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        }


  		




  
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        res.readings = readings;


  		




  
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        return true;


  		




  
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    }


  		




  
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    /// Sends back the position of this scout so scoutsim can save


  		




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    /// the world state


  		




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    geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc,


  		




  ......




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            ROS_WARN("Oh no! I hit the wall! (Clamping from [x=%f, y=%f])", pos.x, pos.y);


  		




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        }


  		




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        pos.x = std::min(std::max(pos.x, 0.0f), state.canvas_width);


  		




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        pos.y = std::min(std::max(pos.y, 0.0f), state.canvas_height);


  		




  
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        pos.x = min(max(pos.x, 0.0f), state.canvas_width);


  		




  
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        pos.y = min(max(pos.y, 0.0f), state.canvas_height);


  		




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        int canvas_x = pos.x * meter;


  		




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        int canvas_y = pos.y * meter;


  		












  

    
      scout/scoutsim/src/scout.h
    
  





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#define _SCOUTSIM_SCOUT_H_


  		




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#include <ros/ros.h>


  		




  
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#include <vector>


  		




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#include <boost/shared_ptr.hpp>


  		




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#include <motors/set_motors.h>


  		




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#include <encoders/query_encoders.h>


  		




  
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#include <linesensor/query_linesensor.h>


  		




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#include <scoutsim/Pose.h>


  		




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#include <scoutsim/SetPen.h>


  		




  ......




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                                scoutsim::SetPen::Response&);


  		




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            bool query_encoders_callback(encoders::query_encoders::Request&,


  		




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                                         encoders::query_encoders::Response&);


  		




  
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            bool query_linesensor_callback(linesensor::query_linesensor::Request&,


  		




  
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                                           linesensor::query_linesensor::Response&);


  		




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            ros::NodeHandle node;


  		




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  ......




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            ros::Publisher color_pub;


  		




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            ros::ServiceServer set_pen_srv;


  		




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            ros::ServiceServer query_encoders_srv;


  		




  
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            ros::ServiceServer query_linesensor_srv;


  		




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            ros::WallTime last_command_time;


  		




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