82 lines
2.4 KiB
Python
82 lines
2.4 KiB
Python
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"""
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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"""
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from AriaPy import *
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import sys
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# This Python script connects to the robot and prints out the current
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# Sonar and Laser range readings.
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Aria_init()
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argparser = ArArgumentParser(sys.argv)
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argparser.loadDefaultArguments()
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robot = ArRobot()
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conn = ArSimpleConnector(argparser)
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if not Aria_parseArgs():
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Aria_logOptions()
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Aria_exit(1)
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sonar = ArSonarDevice()
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robot.addRangeDevice(sonar)
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laser = ArSick()
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laser.configureShort(1)
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robot.addRangeDevice(laser)
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if (not conn.connectRobot(robot)):
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print "Could not connect to robot, exiting"
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Aria_exit(1)
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robot.runAsync(1)
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laser.runAsync()
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print "Connecting to laser and waiting 1 sec..."
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laser.blockingConnect()
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ArUtil_sleep(1000)
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robot.lock()
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poses = sonar.getCurrentBufferAsVector()
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print "Sonar readings (%d) (Point coordinates in space):" % (len(poses))
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for p in poses:
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print " sonar reading at ", p
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robot.unlock()
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print ""
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print ""
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laser.lockDevice()
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readings = laser.getRawReadingsAsVector()
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print "Laser readings (%d):" % (len(readings))
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for r in readings:
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print " from laser placed at pose (X:%g, Y:%g) reading point pos is %s, distance is %d" % (r.getSensorX(), r.getSensorY(), r.getPose(), r.getRange())
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laser.unlockDevice()
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laser.disconnect()
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print "goodbye."
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Aria_exit(0)
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